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b/panda/board/obj/version @@ -1 +1 @@ -DEV-032bf899-DEBUG \ No newline at end of file +DEV-a143e6ee-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2f94764b7..5fcbb3b1b 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_648770422652277661) { - out_648770422652277661[0] = delta_x[0] + nom_x[0]; - out_648770422652277661[1] = delta_x[1] + nom_x[1]; - out_648770422652277661[2] = delta_x[2] + nom_x[2]; - out_648770422652277661[3] = delta_x[3] + nom_x[3]; - out_648770422652277661[4] = delta_x[4] + nom_x[4]; - out_648770422652277661[5] = delta_x[5] + nom_x[5]; - out_648770422652277661[6] = delta_x[6] + nom_x[6]; - out_648770422652277661[7] = delta_x[7] + nom_x[7]; - out_648770422652277661[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284) { + out_5397134643365763284[0] = delta_x[0] + nom_x[0]; + out_5397134643365763284[1] = delta_x[1] + nom_x[1]; + out_5397134643365763284[2] = delta_x[2] + nom_x[2]; + out_5397134643365763284[3] = delta_x[3] + nom_x[3]; + out_5397134643365763284[4] = delta_x[4] + nom_x[4]; + out_5397134643365763284[5] = delta_x[5] + nom_x[5]; + out_5397134643365763284[6] = delta_x[6] + nom_x[6]; + out_5397134643365763284[7] = delta_x[7] + nom_x[7]; + out_5397134643365763284[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) { - out_8433637752559620590[0] = -nom_x[0] + true_x[0]; - out_8433637752559620590[1] = -nom_x[1] + true_x[1]; - out_8433637752559620590[2] = -nom_x[2] + true_x[2]; - out_8433637752559620590[3] = -nom_x[3] + true_x[3]; - out_8433637752559620590[4] = -nom_x[4] + true_x[4]; - out_8433637752559620590[5] = -nom_x[5] + true_x[5]; - out_8433637752559620590[6] = -nom_x[6] + true_x[6]; - out_8433637752559620590[7] = -nom_x[7] + true_x[7]; - out_8433637752559620590[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) { + out_643379036491463030[0] = -nom_x[0] + true_x[0]; + out_643379036491463030[1] = -nom_x[1] + true_x[1]; + out_643379036491463030[2] = -nom_x[2] + true_x[2]; + out_643379036491463030[3] = -nom_x[3] + true_x[3]; + out_643379036491463030[4] = -nom_x[4] + true_x[4]; + out_643379036491463030[5] = -nom_x[5] + true_x[5]; + out_643379036491463030[6] = -nom_x[6] + true_x[6]; + out_643379036491463030[7] = -nom_x[7] + true_x[7]; + out_643379036491463030[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8422599956511423720) { - out_8422599956511423720[0] = 1.0; - out_8422599956511423720[1] = 0.0; - out_8422599956511423720[2] = 0.0; - out_8422599956511423720[3] = 0.0; - out_8422599956511423720[4] = 0.0; - out_8422599956511423720[5] = 0.0; - out_8422599956511423720[6] = 0.0; - out_8422599956511423720[7] = 0.0; - out_8422599956511423720[8] = 0.0; - out_8422599956511423720[9] = 0.0; - out_8422599956511423720[10] = 1.0; - out_8422599956511423720[11] = 0.0; - out_8422599956511423720[12] = 0.0; - out_8422599956511423720[13] = 0.0; - out_8422599956511423720[14] = 0.0; - out_8422599956511423720[15] = 0.0; - out_8422599956511423720[16] = 0.0; - out_8422599956511423720[17] = 0.0; - out_8422599956511423720[18] = 0.0; - out_8422599956511423720[19] = 0.0; - out_8422599956511423720[20] = 1.0; - out_8422599956511423720[21] = 0.0; - out_8422599956511423720[22] = 0.0; - out_8422599956511423720[23] = 0.0; - out_8422599956511423720[24] = 0.0; - out_8422599956511423720[25] = 0.0; - out_8422599956511423720[26] = 0.0; - out_8422599956511423720[27] = 0.0; - out_8422599956511423720[28] = 0.0; - out_8422599956511423720[29] = 0.0; - out_8422599956511423720[30] = 1.0; - out_8422599956511423720[31] = 0.0; - out_8422599956511423720[32] = 0.0; - out_8422599956511423720[33] = 0.0; - out_8422599956511423720[34] = 0.0; - out_8422599956511423720[35] = 0.0; - out_8422599956511423720[36] = 0.0; - out_8422599956511423720[37] = 0.0; - out_8422599956511423720[38] = 0.0; - out_8422599956511423720[39] = 0.0; - out_8422599956511423720[40] = 1.0; - out_8422599956511423720[41] = 0.0; - out_8422599956511423720[42] = 0.0; - out_8422599956511423720[43] = 0.0; - out_8422599956511423720[44] = 0.0; - out_8422599956511423720[45] = 0.0; - out_8422599956511423720[46] = 0.0; - out_8422599956511423720[47] = 0.0; - out_8422599956511423720[48] = 0.0; - out_8422599956511423720[49] = 0.0; - out_8422599956511423720[50] = 1.0; - out_8422599956511423720[51] = 0.0; - out_8422599956511423720[52] = 0.0; - out_8422599956511423720[53] = 0.0; - out_8422599956511423720[54] = 0.0; - out_8422599956511423720[55] = 0.0; - out_8422599956511423720[56] = 0.0; - out_8422599956511423720[57] = 0.0; - out_8422599956511423720[58] = 0.0; - out_8422599956511423720[59] = 0.0; - out_8422599956511423720[60] = 1.0; - out_8422599956511423720[61] = 0.0; - out_8422599956511423720[62] = 0.0; - out_8422599956511423720[63] = 0.0; - out_8422599956511423720[64] = 0.0; - out_8422599956511423720[65] = 0.0; - out_8422599956511423720[66] = 0.0; - out_8422599956511423720[67] = 0.0; - out_8422599956511423720[68] = 0.0; - out_8422599956511423720[69] = 0.0; - out_8422599956511423720[70] = 1.0; - out_8422599956511423720[71] = 0.0; - out_8422599956511423720[72] = 0.0; - out_8422599956511423720[73] = 0.0; - out_8422599956511423720[74] = 0.0; - out_8422599956511423720[75] = 0.0; - out_8422599956511423720[76] = 0.0; - out_8422599956511423720[77] = 0.0; - out_8422599956511423720[78] = 0.0; - out_8422599956511423720[79] = 0.0; - out_8422599956511423720[80] = 1.0; +void H_mod_fun(double *state, double *out_8008223313057305919) { + out_8008223313057305919[0] = 1.0; + out_8008223313057305919[1] = 0.0; + out_8008223313057305919[2] = 0.0; + out_8008223313057305919[3] = 0.0; + out_8008223313057305919[4] = 0.0; + out_8008223313057305919[5] = 0.0; + out_8008223313057305919[6] = 0.0; + out_8008223313057305919[7] = 0.0; + out_8008223313057305919[8] = 0.0; + out_8008223313057305919[9] = 0.0; + out_8008223313057305919[10] = 1.0; + out_8008223313057305919[11] = 0.0; + out_8008223313057305919[12] = 0.0; + out_8008223313057305919[13] = 0.0; + out_8008223313057305919[14] = 0.0; + out_8008223313057305919[15] = 0.0; + out_8008223313057305919[16] = 0.0; + out_8008223313057305919[17] = 0.0; + out_8008223313057305919[18] = 0.0; + out_8008223313057305919[19] = 0.0; + out_8008223313057305919[20] = 1.0; + out_8008223313057305919[21] = 0.0; + out_8008223313057305919[22] = 0.0; + out_8008223313057305919[23] = 0.0; + out_8008223313057305919[24] = 0.0; + out_8008223313057305919[25] = 0.0; + out_8008223313057305919[26] = 0.0; + out_8008223313057305919[27] = 0.0; + out_8008223313057305919[28] = 0.0; + out_8008223313057305919[29] = 0.0; + out_8008223313057305919[30] = 1.0; + out_8008223313057305919[31] = 0.0; + out_8008223313057305919[32] = 0.0; + out_8008223313057305919[33] = 0.0; + out_8008223313057305919[34] = 0.0; + out_8008223313057305919[35] = 0.0; + out_8008223313057305919[36] = 0.0; + out_8008223313057305919[37] = 0.0; + out_8008223313057305919[38] = 0.0; + out_8008223313057305919[39] = 0.0; + out_8008223313057305919[40] = 1.0; + out_8008223313057305919[41] = 0.0; + out_8008223313057305919[42] = 0.0; + out_8008223313057305919[43] = 0.0; + out_8008223313057305919[44] = 0.0; + out_8008223313057305919[45] = 0.0; + out_8008223313057305919[46] = 0.0; + out_8008223313057305919[47] = 0.0; + out_8008223313057305919[48] = 0.0; + out_8008223313057305919[49] = 0.0; + out_8008223313057305919[50] = 1.0; + out_8008223313057305919[51] = 0.0; + out_8008223313057305919[52] = 0.0; + out_8008223313057305919[53] = 0.0; + out_8008223313057305919[54] = 0.0; + out_8008223313057305919[55] = 0.0; + out_8008223313057305919[56] = 0.0; + out_8008223313057305919[57] = 0.0; + out_8008223313057305919[58] = 0.0; + out_8008223313057305919[59] = 0.0; + out_8008223313057305919[60] = 1.0; + out_8008223313057305919[61] = 0.0; + out_8008223313057305919[62] = 0.0; + out_8008223313057305919[63] = 0.0; + out_8008223313057305919[64] = 0.0; + out_8008223313057305919[65] = 0.0; + out_8008223313057305919[66] = 0.0; + out_8008223313057305919[67] = 0.0; + out_8008223313057305919[68] = 0.0; + out_8008223313057305919[69] = 0.0; + out_8008223313057305919[70] = 1.0; + out_8008223313057305919[71] = 0.0; + out_8008223313057305919[72] = 0.0; + out_8008223313057305919[73] = 0.0; + out_8008223313057305919[74] = 0.0; + out_8008223313057305919[75] = 0.0; + out_8008223313057305919[76] = 0.0; + out_8008223313057305919[77] = 0.0; + out_8008223313057305919[78] = 0.0; + out_8008223313057305919[79] = 0.0; + out_8008223313057305919[80] = 1.0; } -void f_fun(double *state, double dt, double *out_9124674145630526498) { - out_9124674145630526498[0] = state[0]; - out_9124674145630526498[1] = state[1]; - out_9124674145630526498[2] = state[2]; - out_9124674145630526498[3] = state[3]; - out_9124674145630526498[4] = state[4]; - out_9124674145630526498[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_9124674145630526498[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_9124674145630526498[7] = state[7]; - out_9124674145630526498[8] = state[8]; +void f_fun(double *state, double dt, double *out_1320186800141293730) { + out_1320186800141293730[0] = state[0]; + out_1320186800141293730[1] = state[1]; + out_1320186800141293730[2] = state[2]; + out_1320186800141293730[3] = state[3]; + out_1320186800141293730[4] = state[4]; + out_1320186800141293730[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_1320186800141293730[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_1320186800141293730[7] = state[7]; + out_1320186800141293730[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7980063177758984153) { - out_7980063177758984153[0] = 1; - out_7980063177758984153[1] = 0; - out_7980063177758984153[2] = 0; - out_7980063177758984153[3] = 0; - out_7980063177758984153[4] = 0; - out_7980063177758984153[5] = 0; - out_7980063177758984153[6] = 0; - out_7980063177758984153[7] = 0; - out_7980063177758984153[8] = 0; - out_7980063177758984153[9] = 0; - out_7980063177758984153[10] = 1; - out_7980063177758984153[11] = 0; - out_7980063177758984153[12] = 0; - out_7980063177758984153[13] = 0; - out_7980063177758984153[14] = 0; - out_7980063177758984153[15] = 0; - out_7980063177758984153[16] = 0; - out_7980063177758984153[17] = 0; - out_7980063177758984153[18] = 0; - out_7980063177758984153[19] = 0; - out_7980063177758984153[20] = 1; - out_7980063177758984153[21] = 0; - out_7980063177758984153[22] = 0; - out_7980063177758984153[23] = 0; - out_7980063177758984153[24] = 0; - out_7980063177758984153[25] = 0; - out_7980063177758984153[26] = 0; - out_7980063177758984153[27] = 0; - out_7980063177758984153[28] = 0; - out_7980063177758984153[29] = 0; - out_7980063177758984153[30] = 1; - out_7980063177758984153[31] = 0; - out_7980063177758984153[32] = 0; - out_7980063177758984153[33] = 0; - out_7980063177758984153[34] = 0; - out_7980063177758984153[35] = 0; - out_7980063177758984153[36] = 0; - out_7980063177758984153[37] = 0; - out_7980063177758984153[38] = 0; - out_7980063177758984153[39] = 0; - out_7980063177758984153[40] = 1; - out_7980063177758984153[41] = 0; - out_7980063177758984153[42] = 0; - out_7980063177758984153[43] = 0; - out_7980063177758984153[44] = 0; - out_7980063177758984153[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_7980063177758984153[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7980063177758984153[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7980063177758984153[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7980063177758984153[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_7980063177758984153[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7980063177758984153[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7980063177758984153[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7980063177758984153[53] = -9.8100000000000005*dt; - out_7980063177758984153[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_7980063177758984153[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7980063177758984153[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7980063177758984153[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7980063177758984153[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_7980063177758984153[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7980063177758984153[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_7980063177758984153[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7980063177758984153[62] = 0; - out_7980063177758984153[63] = 0; - out_7980063177758984153[64] = 0; - out_7980063177758984153[65] = 0; - out_7980063177758984153[66] = 0; - out_7980063177758984153[67] = 0; - out_7980063177758984153[68] = 0; - out_7980063177758984153[69] = 0; - out_7980063177758984153[70] = 1; - out_7980063177758984153[71] = 0; - out_7980063177758984153[72] = 0; - out_7980063177758984153[73] = 0; - out_7980063177758984153[74] = 0; - out_7980063177758984153[75] = 0; - out_7980063177758984153[76] = 0; - out_7980063177758984153[77] = 0; - out_7980063177758984153[78] = 0; - out_7980063177758984153[79] = 0; - out_7980063177758984153[80] = 1; +void F_fun(double *state, double dt, double *out_4790924461105660686) { + out_4790924461105660686[0] = 1; + out_4790924461105660686[1] = 0; + out_4790924461105660686[2] = 0; + out_4790924461105660686[3] = 0; + out_4790924461105660686[4] = 0; + out_4790924461105660686[5] = 0; + out_4790924461105660686[6] = 0; + out_4790924461105660686[7] = 0; + out_4790924461105660686[8] = 0; + out_4790924461105660686[9] = 0; + out_4790924461105660686[10] = 1; + out_4790924461105660686[11] = 0; + out_4790924461105660686[12] = 0; + out_4790924461105660686[13] = 0; + out_4790924461105660686[14] = 0; + out_4790924461105660686[15] = 0; + out_4790924461105660686[16] = 0; + out_4790924461105660686[17] = 0; + out_4790924461105660686[18] = 0; + out_4790924461105660686[19] = 0; + out_4790924461105660686[20] = 1; + out_4790924461105660686[21] = 0; + out_4790924461105660686[22] = 0; + out_4790924461105660686[23] = 0; + out_4790924461105660686[24] = 0; + out_4790924461105660686[25] = 0; + out_4790924461105660686[26] = 0; + out_4790924461105660686[27] = 0; + out_4790924461105660686[28] = 0; + out_4790924461105660686[29] = 0; + out_4790924461105660686[30] = 1; + out_4790924461105660686[31] = 0; + out_4790924461105660686[32] = 0; + out_4790924461105660686[33] = 0; + out_4790924461105660686[34] = 0; + out_4790924461105660686[35] = 0; + out_4790924461105660686[36] = 0; + out_4790924461105660686[37] = 0; + out_4790924461105660686[38] = 0; + out_4790924461105660686[39] = 0; + out_4790924461105660686[40] = 1; + out_4790924461105660686[41] = 0; + out_4790924461105660686[42] = 0; + out_4790924461105660686[43] = 0; + out_4790924461105660686[44] = 0; + out_4790924461105660686[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_4790924461105660686[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4790924461105660686[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4790924461105660686[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4790924461105660686[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_4790924461105660686[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4790924461105660686[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4790924461105660686[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4790924461105660686[53] = -9.8100000000000005*dt; + out_4790924461105660686[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_4790924461105660686[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4790924461105660686[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4790924461105660686[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4790924461105660686[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_4790924461105660686[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4790924461105660686[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_4790924461105660686[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4790924461105660686[62] = 0; + out_4790924461105660686[63] = 0; + out_4790924461105660686[64] = 0; + out_4790924461105660686[65] = 0; + out_4790924461105660686[66] = 0; + out_4790924461105660686[67] = 0; + out_4790924461105660686[68] = 0; + out_4790924461105660686[69] = 0; + out_4790924461105660686[70] = 1; + out_4790924461105660686[71] = 0; + out_4790924461105660686[72] = 0; + out_4790924461105660686[73] = 0; + out_4790924461105660686[74] = 0; + out_4790924461105660686[75] = 0; + out_4790924461105660686[76] = 0; + out_4790924461105660686[77] = 0; + out_4790924461105660686[78] = 0; + out_4790924461105660686[79] = 0; + out_4790924461105660686[80] = 1; } -void h_25(double *state, double *unused, double *out_7427457988301314284) { - out_7427457988301314284[0] = state[6]; +void h_25(double *state, double *unused, double *out_4267314374776649182) { + out_4267314374776649182[0] = state[6]; } -void H_25(double *state, double *unused, double *out_770588269400813517) { - out_770588269400813517[0] = 0; - out_770588269400813517[1] = 0; - out_770588269400813517[2] = 0; - out_770588269400813517[3] = 0; - out_770588269400813517[4] = 0; - out_770588269400813517[5] = 0; - out_770588269400813517[6] = 1; - out_770588269400813517[7] = 0; - out_770588269400813517[8] = 0; +void H_25(double *state, double *unused, double *out_5534828935467580857) { + out_5534828935467580857[0] = 0; + out_5534828935467580857[1] = 0; + out_5534828935467580857[2] = 0; + out_5534828935467580857[3] = 0; + out_5534828935467580857[4] = 0; + out_5534828935467580857[5] = 0; + out_5534828935467580857[6] = 1; + out_5534828935467580857[7] = 0; + out_5534828935467580857[8] = 0; } -void h_24(double *state, double *unused, double *out_3062542313716558558) { - out_3062542313716558558[0] = state[4]; - out_3062542313716558558[1] = state[5]; +void h_24(double *state, double *unused, double *out_544790792172897547) { + out_544790792172897547[0] = state[4]; + out_544790792172897547[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5590909774056801780) { - out_5590909774056801780[0] = 0; - out_5590909774056801780[1] = 0; - out_5590909774056801780[2] = 0; - out_5590909774056801780[3] = 0; - out_5590909774056801780[4] = 1; - out_5590909774056801780[5] = 0; - out_5590909774056801780[6] = 0; - out_5590909774056801780[7] = 0; - out_5590909774056801780[8] = 0; - out_5590909774056801780[9] = 0; - out_5590909774056801780[10] = 0; - out_5590909774056801780[11] = 0; - out_5590909774056801780[12] = 0; - out_5590909774056801780[13] = 0; - out_5590909774056801780[14] = 1; - out_5590909774056801780[15] = 0; - out_5590909774056801780[16] = 0; - out_5590909774056801780[17] = 0; +void H_24(double *state, double *unused, double *out_7263692054644894926) { + out_7263692054644894926[0] = 0; + out_7263692054644894926[1] = 0; + out_7263692054644894926[2] = 0; + out_7263692054644894926[3] = 0; + out_7263692054644894926[4] = 1; + out_7263692054644894926[5] = 0; + out_7263692054644894926[6] = 0; + out_7263692054644894926[7] = 0; + out_7263692054644894926[8] = 0; + out_7263692054644894926[9] = 0; + out_7263692054644894926[10] = 0; + out_7263692054644894926[11] = 0; + out_7263692054644894926[12] = 0; + out_7263692054644894926[13] = 0; + out_7263692054644894926[14] = 1; + out_7263692054644894926[15] = 0; + out_7263692054644894926[16] = 0; + out_7263692054644894926[17] = 0; } -void h_30(double *state, double *unused, double *out_1260343948330179981) { - out_1260343948330179981[0] = state[4]; +void h_30(double *state, double *unused, double *out_1899799665194485121) { + out_1899799665194485121[0] = state[4]; } -void H_30(double *state, double *unused, double *out_899927216544053587) { - out_899927216544053587[0] = 0; - out_899927216544053587[1] = 0; - out_899927216544053587[2] = 0; - out_899927216544053587[3] = 0; - out_899927216544053587[4] = 1; - out_899927216544053587[5] = 0; - out_899927216544053587[6] = 0; - out_899927216544053587[7] = 0; - out_899927216544053587[8] = 0; +void H_30(double *state, double *unused, double *out_1381861406024035898) { + out_1381861406024035898[0] = 0; + out_1381861406024035898[1] = 0; + out_1381861406024035898[2] = 0; + out_1381861406024035898[3] = 0; + out_1381861406024035898[4] = 1; + out_1381861406024035898[5] = 0; + out_1381861406024035898[6] = 0; + out_1381861406024035898[7] = 0; + out_1381861406024035898[8] = 0; } -void h_26(double *state, double *unused, double *out_4488267301164684189) { - out_4488267301164684189[0] = state[7]; +void h_26(double *state, double *unused, double *out_956289812292822686) { + out_956289812292822686[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4512091588274869741) { - out_4512091588274869741[0] = 0; - out_4512091588274869741[1] = 0; - out_4512091588274869741[2] = 0; - out_4512091588274869741[3] = 0; - out_4512091588274869741[4] = 0; - out_4512091588274869741[5] = 0; - out_4512091588274869741[6] = 0; - out_4512091588274869741[7] = 1; - out_4512091588274869741[8] = 0; +void H_26(double *state, double *unused, double *out_2230302965706780256) { + out_2230302965706780256[0] = 0; + out_2230302965706780256[1] = 0; + out_2230302965706780256[2] = 0; + out_2230302965706780256[3] = 0; + out_2230302965706780256[4] = 0; + out_2230302965706780256[5] = 0; + out_2230302965706780256[6] = 0; + out_2230302965706780256[7] = 1; + out_2230302965706780256[8] = 0; } -void h_27(double *state, double *unused, double *out_6340731339944849957) { - out_6340731339944849957[0] = state[3]; +void h_27(double *state, double *unused, double *out_9177756431272056789) { + out_9177756431272056789[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3074690528344478498) { - out_3074690528344478498[0] = 0; - out_3074690528344478498[1] = 0; - out_3074690528344478498[2] = 0; - out_3074690528344478498[3] = 1; - out_3074690528344478498[4] = 0; - out_3074690528344478498[5] = 0; - out_3074690528344478498[6] = 0; - out_3074690528344478498[7] = 0; - out_3074690528344478498[8] = 0; +void H_27(double *state, double *unused, double *out_792901905776389013) { + out_792901905776389013[0] = 0; + out_792901905776389013[1] = 0; + out_792901905776389013[2] = 0; + out_792901905776389013[3] = 1; + out_792901905776389013[4] = 0; + out_792901905776389013[5] = 0; + out_792901905776389013[6] = 0; + out_792901905776389013[7] = 0; + out_792901905776389013[8] = 0; } -void h_29(double *state, double *unused, double *out_8468563205510679309) { - out_8468563205510679309[0] = state[1]; +void h_29(double *state, double *unused, double *out_8902562368987550900) { + out_8902562368987550900[0] = state[1]; } -void H_29(double *state, double *unused, double *out_389695872229661403) { - out_389695872229661403[0] = 0; - out_389695872229661403[1] = 1; - out_389695872229661403[2] = 0; - out_389695872229661403[3] = 0; - out_389695872229661403[4] = 0; - out_389695872229661403[5] = 0; - out_389695872229661403[6] = 0; - out_389695872229661403[7] = 0; - out_389695872229661403[8] = 0; +void H_29(double *state, double *unused, double *out_2506264632645940046) { + out_2506264632645940046[0] = 0; + out_2506264632645940046[1] = 1; + out_2506264632645940046[2] = 0; + out_2506264632645940046[3] = 0; + out_2506264632645940046[4] = 0; + out_2506264632645940046[5] = 0; + out_2506264632645940046[6] = 0; + out_2506264632645940046[7] = 0; + out_2506264632645940046[8] = 0; } -void h_28(double *state, double *unused, double *out_7104339466103856014) { - out_7104339466103856014[0] = state[0]; +void h_28(double *state, double *unused, double *out_3951849215436731842) { + out_3951849215436731842[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8576291801425991511) { - out_8576291801425991511[0] = 1; - out_8576291801425991511[1] = 0; - out_8576291801425991511[2] = 0; - out_8576291801425991511[3] = 0; - out_8576291801425991511[4] = 0; - out_8576291801425991511[5] = 0; - out_8576291801425991511[6] = 0; - out_8576291801425991511[7] = 0; - out_8576291801425991511[8] = 0; +void H_28(double *state, double *unused, double *out_7588663649715470620) { + out_7588663649715470620[0] = 1; + out_7588663649715470620[1] = 0; + out_7588663649715470620[2] = 0; + out_7588663649715470620[3] = 0; + out_7588663649715470620[4] = 0; + out_7588663649715470620[5] = 0; + out_7588663649715470620[6] = 0; + out_7588663649715470620[7] = 0; + out_7588663649715470620[8] = 0; } -void h_31(double *state, double *unused, double *out_2522625404144497340) { - out_2522625404144497340[0] = state[8]; +void h_31(double *state, double *unused, double *out_629864846522626832) { + out_629864846522626832[0] = state[8]; } -void H_31(double *state, double *unused, double *out_739942307523853089) { - out_739942307523853089[0] = 0; - out_739942307523853089[1] = 0; - out_739942307523853089[2] = 0; - out_739942307523853089[3] = 0; - out_739942307523853089[4] = 0; - out_739942307523853089[5] = 0; - out_739942307523853089[6] = 0; - out_739942307523853089[7] = 0; - out_739942307523853089[8] = 1; +void H_31(double *state, double *unused, double *out_1541846315044236396) { + out_1541846315044236396[0] = 0; + out_1541846315044236396[1] = 0; + out_1541846315044236396[2] = 0; + out_1541846315044236396[3] = 0; + out_1541846315044236396[4] = 0; + out_1541846315044236396[5] = 0; + out_1541846315044236396[6] = 0; + out_1541846315044236396[7] = 0; + out_1541846315044236396[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_648770422652277661) { - err_fun(nom_x, delta_x, out_648770422652277661); +void car_err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284) { + err_fun(nom_x, delta_x, out_5397134643365763284); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) { - inv_err_fun(nom_x, true_x, out_8433637752559620590); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) { + inv_err_fun(nom_x, true_x, out_643379036491463030); } -void car_H_mod_fun(double *state, double *out_8422599956511423720) { - H_mod_fun(state, out_8422599956511423720); +void car_H_mod_fun(double *state, double *out_8008223313057305919) { + H_mod_fun(state, out_8008223313057305919); } -void car_f_fun(double *state, double dt, double *out_9124674145630526498) { - f_fun(state, dt, out_9124674145630526498); +void car_f_fun(double *state, double dt, double *out_1320186800141293730) { + f_fun(state, dt, out_1320186800141293730); } -void car_F_fun(double *state, double dt, double *out_7980063177758984153) { - F_fun(state, dt, out_7980063177758984153); +void car_F_fun(double *state, double dt, double *out_4790924461105660686) { + F_fun(state, dt, out_4790924461105660686); } -void car_h_25(double *state, double *unused, double *out_7427457988301314284) { - h_25(state, unused, out_7427457988301314284); +void car_h_25(double *state, double *unused, double *out_4267314374776649182) { + h_25(state, unused, out_4267314374776649182); } -void car_H_25(double *state, double *unused, double *out_770588269400813517) { - H_25(state, unused, out_770588269400813517); +void car_H_25(double *state, double *unused, double *out_5534828935467580857) { + H_25(state, unused, out_5534828935467580857); } -void car_h_24(double *state, double *unused, double *out_3062542313716558558) { - h_24(state, unused, out_3062542313716558558); +void car_h_24(double *state, double *unused, double *out_544790792172897547) { + h_24(state, unused, out_544790792172897547); } -void car_H_24(double *state, double *unused, double *out_5590909774056801780) { - H_24(state, unused, out_5590909774056801780); +void car_H_24(double *state, double *unused, double *out_7263692054644894926) { + H_24(state, unused, out_7263692054644894926); } -void car_h_30(double *state, double *unused, double *out_1260343948330179981) { - h_30(state, unused, out_1260343948330179981); +void car_h_30(double *state, double *unused, double *out_1899799665194485121) { + h_30(state, unused, out_1899799665194485121); } -void car_H_30(double *state, double *unused, double *out_899927216544053587) { - H_30(state, unused, out_899927216544053587); +void car_H_30(double *state, double *unused, double *out_1381861406024035898) { + H_30(state, unused, out_1381861406024035898); } -void car_h_26(double *state, double *unused, double *out_4488267301164684189) { - h_26(state, unused, out_4488267301164684189); +void car_h_26(double *state, double *unused, double *out_956289812292822686) { + h_26(state, unused, out_956289812292822686); } -void car_H_26(double *state, double *unused, double *out_4512091588274869741) { - H_26(state, unused, out_4512091588274869741); +void car_H_26(double *state, double *unused, double *out_2230302965706780256) { + H_26(state, unused, out_2230302965706780256); } -void car_h_27(double *state, double *unused, double *out_6340731339944849957) { - h_27(state, unused, out_6340731339944849957); +void car_h_27(double *state, double *unused, double *out_9177756431272056789) { + h_27(state, unused, out_9177756431272056789); } -void car_H_27(double *state, double *unused, double *out_3074690528344478498) { - H_27(state, unused, out_3074690528344478498); +void car_H_27(double *state, double *unused, double *out_792901905776389013) { + H_27(state, unused, out_792901905776389013); } -void car_h_29(double *state, double *unused, double *out_8468563205510679309) { - h_29(state, unused, out_8468563205510679309); +void car_h_29(double *state, double *unused, double *out_8902562368987550900) { + h_29(state, unused, out_8902562368987550900); } -void car_H_29(double *state, double *unused, double *out_389695872229661403) { - H_29(state, unused, out_389695872229661403); +void car_H_29(double *state, double *unused, double *out_2506264632645940046) { + H_29(state, unused, out_2506264632645940046); } -void car_h_28(double *state, double *unused, double *out_7104339466103856014) { - h_28(state, unused, out_7104339466103856014); +void car_h_28(double *state, double *unused, double *out_3951849215436731842) { + h_28(state, unused, out_3951849215436731842); } -void car_H_28(double *state, double *unused, double *out_8576291801425991511) { - H_28(state, unused, out_8576291801425991511); +void car_H_28(double *state, double *unused, double *out_7588663649715470620) { + H_28(state, unused, out_7588663649715470620); } -void car_h_31(double *state, double *unused, double *out_2522625404144497340) { - h_31(state, unused, out_2522625404144497340); +void car_h_31(double *state, double *unused, double *out_629864846522626832) { + h_31(state, unused, out_629864846522626832); } -void car_H_31(double *state, double *unused, double *out_739942307523853089) { - H_31(state, unused, out_739942307523853089); +void car_H_31(double *state, double *unused, double *out_1541846315044236396) { + H_31(state, unused, out_1541846315044236396); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 43bcd3fe4..b32b0e82b 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_648770422652277661); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590); -void car_H_mod_fun(double *state, double *out_8422599956511423720); -void car_f_fun(double *state, double dt, double *out_9124674145630526498); -void car_F_fun(double *state, double dt, double *out_7980063177758984153); -void car_h_25(double *state, double *unused, double *out_7427457988301314284); -void car_H_25(double *state, double *unused, double *out_770588269400813517); -void car_h_24(double *state, double *unused, double *out_3062542313716558558); -void car_H_24(double *state, double *unused, double *out_5590909774056801780); -void car_h_30(double *state, double *unused, double *out_1260343948330179981); -void car_H_30(double *state, double *unused, double *out_899927216544053587); -void car_h_26(double *state, double *unused, double *out_4488267301164684189); -void car_H_26(double *state, double *unused, double *out_4512091588274869741); -void car_h_27(double *state, double *unused, double *out_6340731339944849957); -void car_H_27(double *state, double *unused, double *out_3074690528344478498); -void car_h_29(double *state, double *unused, double *out_8468563205510679309); -void car_H_29(double *state, double *unused, double *out_389695872229661403); -void car_h_28(double *state, double *unused, double *out_7104339466103856014); -void car_H_28(double *state, double *unused, double *out_8576291801425991511); -void car_h_31(double *state, double *unused, double *out_2522625404144497340); -void car_H_31(double *state, double *unused, double *out_739942307523853089); +void car_err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030); +void car_H_mod_fun(double *state, double *out_8008223313057305919); +void car_f_fun(double *state, double dt, double *out_1320186800141293730); +void car_F_fun(double *state, double dt, double *out_4790924461105660686); +void car_h_25(double *state, double *unused, double *out_4267314374776649182); +void car_H_25(double *state, double *unused, double *out_5534828935467580857); +void car_h_24(double *state, double *unused, double *out_544790792172897547); +void car_H_24(double *state, double *unused, double *out_7263692054644894926); +void car_h_30(double *state, double *unused, double *out_1899799665194485121); +void car_H_30(double *state, double *unused, double *out_1381861406024035898); +void car_h_26(double *state, double *unused, double *out_956289812292822686); +void car_H_26(double *state, double *unused, double *out_2230302965706780256); +void car_h_27(double *state, double *unused, double *out_9177756431272056789); +void car_H_27(double *state, double *unused, double *out_792901905776389013); +void car_h_29(double *state, double *unused, double *out_8902562368987550900); +void car_H_29(double *state, double *unused, double *out_2506264632645940046); +void car_h_28(double *state, double *unused, double *out_3951849215436731842); +void car_H_28(double *state, double *unused, double *out_7588663649715470620); +void car_h_31(double *state, double *unused, double *out_629864846522626832); +void car_H_31(double *state, double *unused, double *out_1541846315044236396); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index c34fec7bc..f5d698a26 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640) { - out_4926409855120774640[0] = delta_x[0] + nom_x[0]; - out_4926409855120774640[1] = delta_x[1] + nom_x[1]; - out_4926409855120774640[2] = delta_x[2] + nom_x[2]; - out_4926409855120774640[3] = delta_x[3] + nom_x[3]; - out_4926409855120774640[4] = delta_x[4] + nom_x[4]; - out_4926409855120774640[5] = delta_x[5] + nom_x[5]; - out_4926409855120774640[6] = delta_x[6] + nom_x[6]; - out_4926409855120774640[7] = delta_x[7] + nom_x[7]; - out_4926409855120774640[8] = delta_x[8] + nom_x[8]; - out_4926409855120774640[9] = delta_x[9] + nom_x[9]; - out_4926409855120774640[10] = delta_x[10] + nom_x[10]; - out_4926409855120774640[11] = delta_x[11] + nom_x[11]; - out_4926409855120774640[12] = delta_x[12] + nom_x[12]; - out_4926409855120774640[13] = delta_x[13] + nom_x[13]; - out_4926409855120774640[14] = delta_x[14] + nom_x[14]; - out_4926409855120774640[15] = delta_x[15] + nom_x[15]; - out_4926409855120774640[16] = delta_x[16] + nom_x[16]; - out_4926409855120774640[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7783868612103190645) { + out_7783868612103190645[0] = delta_x[0] + nom_x[0]; + out_7783868612103190645[1] = delta_x[1] + nom_x[1]; + out_7783868612103190645[2] = delta_x[2] + nom_x[2]; + out_7783868612103190645[3] = delta_x[3] + nom_x[3]; + out_7783868612103190645[4] = delta_x[4] + nom_x[4]; + out_7783868612103190645[5] = delta_x[5] + nom_x[5]; + out_7783868612103190645[6] = delta_x[6] + nom_x[6]; + out_7783868612103190645[7] = delta_x[7] + nom_x[7]; + out_7783868612103190645[8] = delta_x[8] + nom_x[8]; + out_7783868612103190645[9] = delta_x[9] + nom_x[9]; + out_7783868612103190645[10] = delta_x[10] + nom_x[10]; + out_7783868612103190645[11] = delta_x[11] + nom_x[11]; + out_7783868612103190645[12] = delta_x[12] + nom_x[12]; + out_7783868612103190645[13] = delta_x[13] + nom_x[13]; + out_7783868612103190645[14] = delta_x[14] + nom_x[14]; + out_7783868612103190645[15] = delta_x[15] + nom_x[15]; + out_7783868612103190645[16] = delta_x[16] + nom_x[16]; + out_7783868612103190645[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741) { - out_6187782627613179741[0] = -nom_x[0] + true_x[0]; - out_6187782627613179741[1] = -nom_x[1] + true_x[1]; - out_6187782627613179741[2] = -nom_x[2] + true_x[2]; - out_6187782627613179741[3] = -nom_x[3] + true_x[3]; - out_6187782627613179741[4] = -nom_x[4] + true_x[4]; - out_6187782627613179741[5] = -nom_x[5] + true_x[5]; - out_6187782627613179741[6] = -nom_x[6] + true_x[6]; - out_6187782627613179741[7] = -nom_x[7] + true_x[7]; - out_6187782627613179741[8] = -nom_x[8] + true_x[8]; - out_6187782627613179741[9] = -nom_x[9] + true_x[9]; - out_6187782627613179741[10] = -nom_x[10] + true_x[10]; - out_6187782627613179741[11] = -nom_x[11] + true_x[11]; - out_6187782627613179741[12] = -nom_x[12] + true_x[12]; - out_6187782627613179741[13] = -nom_x[13] + true_x[13]; - out_6187782627613179741[14] = -nom_x[14] + true_x[14]; - out_6187782627613179741[15] = -nom_x[15] + true_x[15]; - out_6187782627613179741[16] = -nom_x[16] + true_x[16]; - out_6187782627613179741[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646) { + out_6605006959385105646[0] = -nom_x[0] + true_x[0]; + out_6605006959385105646[1] = -nom_x[1] + true_x[1]; + out_6605006959385105646[2] = -nom_x[2] + true_x[2]; + out_6605006959385105646[3] = -nom_x[3] + true_x[3]; + out_6605006959385105646[4] = -nom_x[4] + true_x[4]; + out_6605006959385105646[5] = -nom_x[5] + true_x[5]; + out_6605006959385105646[6] = -nom_x[6] + true_x[6]; + out_6605006959385105646[7] = -nom_x[7] + true_x[7]; + out_6605006959385105646[8] = -nom_x[8] + true_x[8]; + out_6605006959385105646[9] = -nom_x[9] + true_x[9]; + out_6605006959385105646[10] = -nom_x[10] + true_x[10]; + out_6605006959385105646[11] = -nom_x[11] + true_x[11]; + out_6605006959385105646[12] = -nom_x[12] + true_x[12]; + out_6605006959385105646[13] = -nom_x[13] + true_x[13]; + out_6605006959385105646[14] = -nom_x[14] + true_x[14]; + out_6605006959385105646[15] = -nom_x[15] + true_x[15]; + out_6605006959385105646[16] = -nom_x[16] + true_x[16]; + out_6605006959385105646[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5486902536301149939) { - out_5486902536301149939[0] = 1.0; - out_5486902536301149939[1] = 0.0; - out_5486902536301149939[2] = 0.0; - out_5486902536301149939[3] = 0.0; - out_5486902536301149939[4] = 0.0; - out_5486902536301149939[5] = 0.0; - out_5486902536301149939[6] = 0.0; - out_5486902536301149939[7] = 0.0; - out_5486902536301149939[8] = 0.0; - out_5486902536301149939[9] = 0.0; - out_5486902536301149939[10] = 0.0; - out_5486902536301149939[11] = 0.0; - out_5486902536301149939[12] = 0.0; - out_5486902536301149939[13] = 0.0; - out_5486902536301149939[14] = 0.0; - out_5486902536301149939[15] = 0.0; - out_5486902536301149939[16] = 0.0; - out_5486902536301149939[17] = 0.0; - out_5486902536301149939[18] = 0.0; - out_5486902536301149939[19] = 1.0; - out_5486902536301149939[20] = 0.0; - out_5486902536301149939[21] = 0.0; - out_5486902536301149939[22] = 0.0; - out_5486902536301149939[23] = 0.0; - out_5486902536301149939[24] = 0.0; - out_5486902536301149939[25] = 0.0; - out_5486902536301149939[26] = 0.0; - out_5486902536301149939[27] = 0.0; - out_5486902536301149939[28] = 0.0; - out_5486902536301149939[29] = 0.0; - out_5486902536301149939[30] = 0.0; - out_5486902536301149939[31] = 0.0; - out_5486902536301149939[32] = 0.0; - out_5486902536301149939[33] = 0.0; - out_5486902536301149939[34] = 0.0; - out_5486902536301149939[35] = 0.0; - out_5486902536301149939[36] = 0.0; - out_5486902536301149939[37] = 0.0; - out_5486902536301149939[38] = 1.0; - out_5486902536301149939[39] = 0.0; - out_5486902536301149939[40] = 0.0; - out_5486902536301149939[41] = 0.0; - out_5486902536301149939[42] = 0.0; - out_5486902536301149939[43] = 0.0; - out_5486902536301149939[44] = 0.0; - out_5486902536301149939[45] = 0.0; - out_5486902536301149939[46] = 0.0; - out_5486902536301149939[47] = 0.0; - out_5486902536301149939[48] = 0.0; - out_5486902536301149939[49] = 0.0; - out_5486902536301149939[50] = 0.0; - out_5486902536301149939[51] = 0.0; - out_5486902536301149939[52] = 0.0; - out_5486902536301149939[53] = 0.0; - out_5486902536301149939[54] = 0.0; - out_5486902536301149939[55] = 0.0; - out_5486902536301149939[56] = 0.0; - out_5486902536301149939[57] = 1.0; - out_5486902536301149939[58] = 0.0; - out_5486902536301149939[59] = 0.0; - out_5486902536301149939[60] = 0.0; - out_5486902536301149939[61] = 0.0; - out_5486902536301149939[62] = 0.0; - out_5486902536301149939[63] = 0.0; - out_5486902536301149939[64] = 0.0; - out_5486902536301149939[65] = 0.0; - out_5486902536301149939[66] = 0.0; - out_5486902536301149939[67] = 0.0; - out_5486902536301149939[68] = 0.0; - out_5486902536301149939[69] = 0.0; - out_5486902536301149939[70] = 0.0; - out_5486902536301149939[71] = 0.0; - out_5486902536301149939[72] = 0.0; - out_5486902536301149939[73] = 0.0; - out_5486902536301149939[74] = 0.0; - out_5486902536301149939[75] = 0.0; - out_5486902536301149939[76] = 1.0; - out_5486902536301149939[77] = 0.0; - out_5486902536301149939[78] = 0.0; - out_5486902536301149939[79] = 0.0; - out_5486902536301149939[80] = 0.0; - out_5486902536301149939[81] = 0.0; - out_5486902536301149939[82] = 0.0; - out_5486902536301149939[83] = 0.0; - out_5486902536301149939[84] = 0.0; - out_5486902536301149939[85] = 0.0; - out_5486902536301149939[86] = 0.0; - out_5486902536301149939[87] = 0.0; - out_5486902536301149939[88] = 0.0; - out_5486902536301149939[89] = 0.0; - out_5486902536301149939[90] = 0.0; - out_5486902536301149939[91] = 0.0; - out_5486902536301149939[92] = 0.0; - out_5486902536301149939[93] = 0.0; - out_5486902536301149939[94] = 0.0; - out_5486902536301149939[95] = 1.0; - out_5486902536301149939[96] = 0.0; - out_5486902536301149939[97] = 0.0; - out_5486902536301149939[98] = 0.0; - out_5486902536301149939[99] = 0.0; - out_5486902536301149939[100] = 0.0; - out_5486902536301149939[101] = 0.0; - out_5486902536301149939[102] = 0.0; - out_5486902536301149939[103] = 0.0; - out_5486902536301149939[104] = 0.0; - out_5486902536301149939[105] = 0.0; - out_5486902536301149939[106] = 0.0; - out_5486902536301149939[107] = 0.0; - out_5486902536301149939[108] = 0.0; - out_5486902536301149939[109] = 0.0; - out_5486902536301149939[110] = 0.0; - out_5486902536301149939[111] = 0.0; - out_5486902536301149939[112] = 0.0; - out_5486902536301149939[113] = 0.0; - out_5486902536301149939[114] = 1.0; - out_5486902536301149939[115] = 0.0; - out_5486902536301149939[116] = 0.0; - out_5486902536301149939[117] = 0.0; - out_5486902536301149939[118] = 0.0; - out_5486902536301149939[119] = 0.0; - out_5486902536301149939[120] = 0.0; - out_5486902536301149939[121] = 0.0; - out_5486902536301149939[122] = 0.0; - out_5486902536301149939[123] = 0.0; - out_5486902536301149939[124] = 0.0; - out_5486902536301149939[125] = 0.0; - out_5486902536301149939[126] = 0.0; - out_5486902536301149939[127] = 0.0; - out_5486902536301149939[128] = 0.0; - out_5486902536301149939[129] = 0.0; - out_5486902536301149939[130] = 0.0; - out_5486902536301149939[131] = 0.0; - out_5486902536301149939[132] = 0.0; - out_5486902536301149939[133] = 1.0; - out_5486902536301149939[134] = 0.0; - out_5486902536301149939[135] = 0.0; - out_5486902536301149939[136] = 0.0; - out_5486902536301149939[137] = 0.0; - out_5486902536301149939[138] = 0.0; - out_5486902536301149939[139] = 0.0; - out_5486902536301149939[140] = 0.0; - out_5486902536301149939[141] = 0.0; - out_5486902536301149939[142] = 0.0; - out_5486902536301149939[143] = 0.0; - out_5486902536301149939[144] = 0.0; - out_5486902536301149939[145] = 0.0; - out_5486902536301149939[146] = 0.0; - out_5486902536301149939[147] = 0.0; - out_5486902536301149939[148] = 0.0; - out_5486902536301149939[149] = 0.0; - out_5486902536301149939[150] = 0.0; - out_5486902536301149939[151] = 0.0; - out_5486902536301149939[152] = 1.0; - out_5486902536301149939[153] = 0.0; - out_5486902536301149939[154] = 0.0; - out_5486902536301149939[155] = 0.0; - out_5486902536301149939[156] = 0.0; - out_5486902536301149939[157] = 0.0; - out_5486902536301149939[158] = 0.0; - out_5486902536301149939[159] = 0.0; - out_5486902536301149939[160] = 0.0; - out_5486902536301149939[161] = 0.0; - out_5486902536301149939[162] = 0.0; - out_5486902536301149939[163] = 0.0; - out_5486902536301149939[164] = 0.0; - out_5486902536301149939[165] = 0.0; - out_5486902536301149939[166] = 0.0; - out_5486902536301149939[167] = 0.0; - out_5486902536301149939[168] = 0.0; - out_5486902536301149939[169] = 0.0; - out_5486902536301149939[170] = 0.0; - out_5486902536301149939[171] = 1.0; - out_5486902536301149939[172] = 0.0; - out_5486902536301149939[173] = 0.0; - out_5486902536301149939[174] = 0.0; - out_5486902536301149939[175] = 0.0; - out_5486902536301149939[176] = 0.0; - out_5486902536301149939[177] = 0.0; - out_5486902536301149939[178] = 0.0; - out_5486902536301149939[179] = 0.0; - out_5486902536301149939[180] = 0.0; - out_5486902536301149939[181] = 0.0; - out_5486902536301149939[182] = 0.0; - out_5486902536301149939[183] = 0.0; - out_5486902536301149939[184] = 0.0; - out_5486902536301149939[185] = 0.0; - out_5486902536301149939[186] = 0.0; - out_5486902536301149939[187] = 0.0; - out_5486902536301149939[188] = 0.0; - out_5486902536301149939[189] = 0.0; - out_5486902536301149939[190] = 1.0; - out_5486902536301149939[191] = 0.0; - out_5486902536301149939[192] = 0.0; - out_5486902536301149939[193] = 0.0; - out_5486902536301149939[194] = 0.0; - out_5486902536301149939[195] = 0.0; - out_5486902536301149939[196] = 0.0; - out_5486902536301149939[197] = 0.0; - out_5486902536301149939[198] = 0.0; - out_5486902536301149939[199] = 0.0; - out_5486902536301149939[200] = 0.0; - out_5486902536301149939[201] = 0.0; - out_5486902536301149939[202] = 0.0; - out_5486902536301149939[203] = 0.0; - out_5486902536301149939[204] = 0.0; - out_5486902536301149939[205] = 0.0; - out_5486902536301149939[206] = 0.0; - out_5486902536301149939[207] = 0.0; - out_5486902536301149939[208] = 0.0; - out_5486902536301149939[209] = 1.0; - out_5486902536301149939[210] = 0.0; - out_5486902536301149939[211] = 0.0; - out_5486902536301149939[212] = 0.0; - out_5486902536301149939[213] = 0.0; - out_5486902536301149939[214] = 0.0; - out_5486902536301149939[215] = 0.0; - out_5486902536301149939[216] = 0.0; - out_5486902536301149939[217] = 0.0; - out_5486902536301149939[218] = 0.0; - out_5486902536301149939[219] = 0.0; - out_5486902536301149939[220] = 0.0; - out_5486902536301149939[221] = 0.0; - out_5486902536301149939[222] = 0.0; - out_5486902536301149939[223] = 0.0; - out_5486902536301149939[224] = 0.0; - out_5486902536301149939[225] = 0.0; - out_5486902536301149939[226] = 0.0; - out_5486902536301149939[227] = 0.0; - out_5486902536301149939[228] = 1.0; - out_5486902536301149939[229] = 0.0; - out_5486902536301149939[230] = 0.0; - out_5486902536301149939[231] = 0.0; - out_5486902536301149939[232] = 0.0; - out_5486902536301149939[233] = 0.0; - out_5486902536301149939[234] = 0.0; - out_5486902536301149939[235] = 0.0; - out_5486902536301149939[236] = 0.0; - out_5486902536301149939[237] = 0.0; - out_5486902536301149939[238] = 0.0; - out_5486902536301149939[239] = 0.0; - out_5486902536301149939[240] = 0.0; - out_5486902536301149939[241] = 0.0; - out_5486902536301149939[242] = 0.0; - out_5486902536301149939[243] = 0.0; - out_5486902536301149939[244] = 0.0; - out_5486902536301149939[245] = 0.0; - out_5486902536301149939[246] = 0.0; - out_5486902536301149939[247] = 1.0; - out_5486902536301149939[248] = 0.0; - out_5486902536301149939[249] = 0.0; - out_5486902536301149939[250] = 0.0; - out_5486902536301149939[251] = 0.0; - out_5486902536301149939[252] = 0.0; - out_5486902536301149939[253] = 0.0; - out_5486902536301149939[254] = 0.0; - out_5486902536301149939[255] = 0.0; - out_5486902536301149939[256] = 0.0; - out_5486902536301149939[257] = 0.0; - out_5486902536301149939[258] = 0.0; - out_5486902536301149939[259] = 0.0; - out_5486902536301149939[260] = 0.0; - out_5486902536301149939[261] = 0.0; - out_5486902536301149939[262] = 0.0; - out_5486902536301149939[263] = 0.0; - out_5486902536301149939[264] = 0.0; - out_5486902536301149939[265] = 0.0; - out_5486902536301149939[266] = 1.0; - out_5486902536301149939[267] = 0.0; - out_5486902536301149939[268] = 0.0; - out_5486902536301149939[269] = 0.0; - out_5486902536301149939[270] = 0.0; - out_5486902536301149939[271] = 0.0; - out_5486902536301149939[272] = 0.0; - out_5486902536301149939[273] = 0.0; - out_5486902536301149939[274] = 0.0; - out_5486902536301149939[275] = 0.0; - out_5486902536301149939[276] = 0.0; - out_5486902536301149939[277] = 0.0; - out_5486902536301149939[278] = 0.0; - out_5486902536301149939[279] = 0.0; - out_5486902536301149939[280] = 0.0; - out_5486902536301149939[281] = 0.0; - out_5486902536301149939[282] = 0.0; - out_5486902536301149939[283] = 0.0; - out_5486902536301149939[284] = 0.0; - out_5486902536301149939[285] = 1.0; - out_5486902536301149939[286] = 0.0; - out_5486902536301149939[287] = 0.0; - out_5486902536301149939[288] = 0.0; - out_5486902536301149939[289] = 0.0; - out_5486902536301149939[290] = 0.0; - out_5486902536301149939[291] = 0.0; - out_5486902536301149939[292] = 0.0; - out_5486902536301149939[293] = 0.0; - out_5486902536301149939[294] = 0.0; - out_5486902536301149939[295] = 0.0; - out_5486902536301149939[296] = 0.0; - out_5486902536301149939[297] = 0.0; - out_5486902536301149939[298] = 0.0; - out_5486902536301149939[299] = 0.0; - out_5486902536301149939[300] = 0.0; - out_5486902536301149939[301] = 0.0; - out_5486902536301149939[302] = 0.0; - out_5486902536301149939[303] = 0.0; - out_5486902536301149939[304] = 1.0; - out_5486902536301149939[305] = 0.0; - out_5486902536301149939[306] = 0.0; - out_5486902536301149939[307] = 0.0; - out_5486902536301149939[308] = 0.0; - out_5486902536301149939[309] = 0.0; - out_5486902536301149939[310] = 0.0; - out_5486902536301149939[311] = 0.0; - out_5486902536301149939[312] = 0.0; - out_5486902536301149939[313] = 0.0; - out_5486902536301149939[314] = 0.0; - out_5486902536301149939[315] = 0.0; - out_5486902536301149939[316] = 0.0; - out_5486902536301149939[317] = 0.0; - out_5486902536301149939[318] = 0.0; - out_5486902536301149939[319] = 0.0; - out_5486902536301149939[320] = 0.0; - out_5486902536301149939[321] = 0.0; - out_5486902536301149939[322] = 0.0; - out_5486902536301149939[323] = 1.0; +void H_mod_fun(double *state, double *out_4214017023834556037) { + out_4214017023834556037[0] = 1.0; + out_4214017023834556037[1] = 0.0; + out_4214017023834556037[2] = 0.0; + out_4214017023834556037[3] = 0.0; + out_4214017023834556037[4] = 0.0; + out_4214017023834556037[5] = 0.0; + out_4214017023834556037[6] = 0.0; + out_4214017023834556037[7] = 0.0; + out_4214017023834556037[8] = 0.0; + out_4214017023834556037[9] = 0.0; + out_4214017023834556037[10] = 0.0; + out_4214017023834556037[11] = 0.0; + out_4214017023834556037[12] = 0.0; + out_4214017023834556037[13] = 0.0; + out_4214017023834556037[14] = 0.0; + out_4214017023834556037[15] = 0.0; + out_4214017023834556037[16] = 0.0; + out_4214017023834556037[17] = 0.0; + out_4214017023834556037[18] = 0.0; + out_4214017023834556037[19] = 1.0; + out_4214017023834556037[20] = 0.0; + out_4214017023834556037[21] = 0.0; + out_4214017023834556037[22] = 0.0; + out_4214017023834556037[23] = 0.0; + out_4214017023834556037[24] = 0.0; + out_4214017023834556037[25] = 0.0; + out_4214017023834556037[26] = 0.0; + out_4214017023834556037[27] = 0.0; + out_4214017023834556037[28] = 0.0; + out_4214017023834556037[29] = 0.0; + out_4214017023834556037[30] = 0.0; + out_4214017023834556037[31] = 0.0; + out_4214017023834556037[32] = 0.0; + out_4214017023834556037[33] = 0.0; + out_4214017023834556037[34] = 0.0; + out_4214017023834556037[35] = 0.0; + out_4214017023834556037[36] = 0.0; + out_4214017023834556037[37] = 0.0; + out_4214017023834556037[38] = 1.0; + out_4214017023834556037[39] = 0.0; + out_4214017023834556037[40] = 0.0; + out_4214017023834556037[41] = 0.0; + out_4214017023834556037[42] = 0.0; + out_4214017023834556037[43] = 0.0; + out_4214017023834556037[44] = 0.0; + out_4214017023834556037[45] = 0.0; + out_4214017023834556037[46] = 0.0; + out_4214017023834556037[47] = 0.0; + out_4214017023834556037[48] = 0.0; + out_4214017023834556037[49] = 0.0; + out_4214017023834556037[50] = 0.0; + out_4214017023834556037[51] = 0.0; + out_4214017023834556037[52] = 0.0; + out_4214017023834556037[53] = 0.0; + out_4214017023834556037[54] = 0.0; + out_4214017023834556037[55] = 0.0; + out_4214017023834556037[56] = 0.0; + out_4214017023834556037[57] = 1.0; + out_4214017023834556037[58] = 0.0; + out_4214017023834556037[59] = 0.0; + out_4214017023834556037[60] = 0.0; + out_4214017023834556037[61] = 0.0; + out_4214017023834556037[62] = 0.0; + out_4214017023834556037[63] = 0.0; + out_4214017023834556037[64] = 0.0; + out_4214017023834556037[65] = 0.0; + out_4214017023834556037[66] = 0.0; + out_4214017023834556037[67] = 0.0; + out_4214017023834556037[68] = 0.0; + out_4214017023834556037[69] = 0.0; + out_4214017023834556037[70] = 0.0; + out_4214017023834556037[71] = 0.0; + out_4214017023834556037[72] = 0.0; + out_4214017023834556037[73] = 0.0; + out_4214017023834556037[74] = 0.0; + out_4214017023834556037[75] = 0.0; + out_4214017023834556037[76] = 1.0; + out_4214017023834556037[77] = 0.0; + out_4214017023834556037[78] = 0.0; + out_4214017023834556037[79] = 0.0; + out_4214017023834556037[80] = 0.0; + out_4214017023834556037[81] = 0.0; + out_4214017023834556037[82] = 0.0; + out_4214017023834556037[83] = 0.0; + out_4214017023834556037[84] = 0.0; + out_4214017023834556037[85] = 0.0; + out_4214017023834556037[86] = 0.0; + out_4214017023834556037[87] = 0.0; + out_4214017023834556037[88] = 0.0; + out_4214017023834556037[89] = 0.0; + out_4214017023834556037[90] = 0.0; + out_4214017023834556037[91] = 0.0; + out_4214017023834556037[92] = 0.0; + out_4214017023834556037[93] = 0.0; + out_4214017023834556037[94] = 0.0; + out_4214017023834556037[95] = 1.0; + out_4214017023834556037[96] = 0.0; + out_4214017023834556037[97] = 0.0; + out_4214017023834556037[98] = 0.0; + out_4214017023834556037[99] = 0.0; + out_4214017023834556037[100] = 0.0; + out_4214017023834556037[101] = 0.0; + out_4214017023834556037[102] = 0.0; + out_4214017023834556037[103] = 0.0; + out_4214017023834556037[104] = 0.0; + out_4214017023834556037[105] = 0.0; + out_4214017023834556037[106] = 0.0; + out_4214017023834556037[107] = 0.0; + out_4214017023834556037[108] = 0.0; + out_4214017023834556037[109] = 0.0; + out_4214017023834556037[110] = 0.0; + out_4214017023834556037[111] = 0.0; + out_4214017023834556037[112] = 0.0; + out_4214017023834556037[113] = 0.0; + out_4214017023834556037[114] = 1.0; + out_4214017023834556037[115] = 0.0; + out_4214017023834556037[116] = 0.0; + out_4214017023834556037[117] = 0.0; + out_4214017023834556037[118] = 0.0; + out_4214017023834556037[119] = 0.0; + out_4214017023834556037[120] = 0.0; + out_4214017023834556037[121] = 0.0; + out_4214017023834556037[122] = 0.0; + out_4214017023834556037[123] = 0.0; + out_4214017023834556037[124] = 0.0; + out_4214017023834556037[125] = 0.0; + out_4214017023834556037[126] = 0.0; + out_4214017023834556037[127] = 0.0; + out_4214017023834556037[128] = 0.0; + out_4214017023834556037[129] = 0.0; + out_4214017023834556037[130] = 0.0; + out_4214017023834556037[131] = 0.0; + out_4214017023834556037[132] = 0.0; + out_4214017023834556037[133] = 1.0; + out_4214017023834556037[134] = 0.0; + out_4214017023834556037[135] = 0.0; + out_4214017023834556037[136] = 0.0; + out_4214017023834556037[137] = 0.0; + out_4214017023834556037[138] = 0.0; + out_4214017023834556037[139] = 0.0; + out_4214017023834556037[140] = 0.0; + out_4214017023834556037[141] = 0.0; + out_4214017023834556037[142] = 0.0; + out_4214017023834556037[143] = 0.0; + out_4214017023834556037[144] = 0.0; + out_4214017023834556037[145] = 0.0; + out_4214017023834556037[146] = 0.0; + out_4214017023834556037[147] = 0.0; + out_4214017023834556037[148] = 0.0; + out_4214017023834556037[149] = 0.0; + out_4214017023834556037[150] = 0.0; + out_4214017023834556037[151] = 0.0; + out_4214017023834556037[152] = 1.0; + out_4214017023834556037[153] = 0.0; + out_4214017023834556037[154] = 0.0; + out_4214017023834556037[155] = 0.0; + out_4214017023834556037[156] = 0.0; + out_4214017023834556037[157] = 0.0; + out_4214017023834556037[158] = 0.0; + out_4214017023834556037[159] = 0.0; + out_4214017023834556037[160] = 0.0; + out_4214017023834556037[161] = 0.0; + out_4214017023834556037[162] = 0.0; + out_4214017023834556037[163] = 0.0; + out_4214017023834556037[164] = 0.0; + out_4214017023834556037[165] = 0.0; + out_4214017023834556037[166] = 0.0; + out_4214017023834556037[167] = 0.0; + out_4214017023834556037[168] = 0.0; + out_4214017023834556037[169] = 0.0; + out_4214017023834556037[170] = 0.0; + out_4214017023834556037[171] = 1.0; + out_4214017023834556037[172] = 0.0; + out_4214017023834556037[173] = 0.0; + out_4214017023834556037[174] = 0.0; + out_4214017023834556037[175] = 0.0; + out_4214017023834556037[176] = 0.0; + out_4214017023834556037[177] = 0.0; + out_4214017023834556037[178] = 0.0; + out_4214017023834556037[179] = 0.0; + out_4214017023834556037[180] = 0.0; + out_4214017023834556037[181] = 0.0; + out_4214017023834556037[182] = 0.0; + out_4214017023834556037[183] = 0.0; + out_4214017023834556037[184] = 0.0; + out_4214017023834556037[185] = 0.0; + out_4214017023834556037[186] = 0.0; + out_4214017023834556037[187] = 0.0; + out_4214017023834556037[188] = 0.0; + out_4214017023834556037[189] = 0.0; + out_4214017023834556037[190] = 1.0; + out_4214017023834556037[191] = 0.0; + out_4214017023834556037[192] = 0.0; + out_4214017023834556037[193] = 0.0; + out_4214017023834556037[194] = 0.0; + out_4214017023834556037[195] = 0.0; + out_4214017023834556037[196] = 0.0; + out_4214017023834556037[197] = 0.0; + out_4214017023834556037[198] = 0.0; + out_4214017023834556037[199] = 0.0; + out_4214017023834556037[200] = 0.0; + out_4214017023834556037[201] = 0.0; + out_4214017023834556037[202] = 0.0; + out_4214017023834556037[203] = 0.0; + out_4214017023834556037[204] = 0.0; + out_4214017023834556037[205] = 0.0; + out_4214017023834556037[206] = 0.0; + out_4214017023834556037[207] = 0.0; + out_4214017023834556037[208] = 0.0; + out_4214017023834556037[209] = 1.0; + out_4214017023834556037[210] = 0.0; + out_4214017023834556037[211] = 0.0; + out_4214017023834556037[212] = 0.0; + out_4214017023834556037[213] = 0.0; + out_4214017023834556037[214] = 0.0; + out_4214017023834556037[215] = 0.0; + out_4214017023834556037[216] = 0.0; + out_4214017023834556037[217] = 0.0; + out_4214017023834556037[218] = 0.0; + out_4214017023834556037[219] = 0.0; + out_4214017023834556037[220] = 0.0; + out_4214017023834556037[221] = 0.0; + out_4214017023834556037[222] = 0.0; + out_4214017023834556037[223] = 0.0; + out_4214017023834556037[224] = 0.0; + out_4214017023834556037[225] = 0.0; + out_4214017023834556037[226] = 0.0; + out_4214017023834556037[227] = 0.0; + out_4214017023834556037[228] = 1.0; + out_4214017023834556037[229] = 0.0; + out_4214017023834556037[230] = 0.0; + out_4214017023834556037[231] = 0.0; + out_4214017023834556037[232] = 0.0; + out_4214017023834556037[233] = 0.0; + out_4214017023834556037[234] = 0.0; + out_4214017023834556037[235] = 0.0; + out_4214017023834556037[236] = 0.0; + out_4214017023834556037[237] = 0.0; + out_4214017023834556037[238] = 0.0; + out_4214017023834556037[239] = 0.0; + out_4214017023834556037[240] = 0.0; + out_4214017023834556037[241] = 0.0; + out_4214017023834556037[242] = 0.0; + out_4214017023834556037[243] = 0.0; + out_4214017023834556037[244] = 0.0; + out_4214017023834556037[245] = 0.0; + out_4214017023834556037[246] = 0.0; + out_4214017023834556037[247] = 1.0; + out_4214017023834556037[248] = 0.0; + out_4214017023834556037[249] = 0.0; + out_4214017023834556037[250] = 0.0; + out_4214017023834556037[251] = 0.0; + out_4214017023834556037[252] = 0.0; + out_4214017023834556037[253] = 0.0; + out_4214017023834556037[254] = 0.0; + out_4214017023834556037[255] = 0.0; + out_4214017023834556037[256] = 0.0; + out_4214017023834556037[257] = 0.0; + out_4214017023834556037[258] = 0.0; + out_4214017023834556037[259] = 0.0; + out_4214017023834556037[260] = 0.0; + out_4214017023834556037[261] = 0.0; + out_4214017023834556037[262] = 0.0; + out_4214017023834556037[263] = 0.0; + out_4214017023834556037[264] = 0.0; + out_4214017023834556037[265] = 0.0; + out_4214017023834556037[266] = 1.0; + out_4214017023834556037[267] = 0.0; + out_4214017023834556037[268] = 0.0; + out_4214017023834556037[269] = 0.0; + out_4214017023834556037[270] = 0.0; + out_4214017023834556037[271] = 0.0; + out_4214017023834556037[272] = 0.0; + out_4214017023834556037[273] = 0.0; + out_4214017023834556037[274] = 0.0; + out_4214017023834556037[275] = 0.0; + out_4214017023834556037[276] = 0.0; + out_4214017023834556037[277] = 0.0; + out_4214017023834556037[278] = 0.0; + out_4214017023834556037[279] = 0.0; + out_4214017023834556037[280] = 0.0; + out_4214017023834556037[281] = 0.0; + out_4214017023834556037[282] = 0.0; + out_4214017023834556037[283] = 0.0; + out_4214017023834556037[284] = 0.0; + out_4214017023834556037[285] = 1.0; + out_4214017023834556037[286] = 0.0; + out_4214017023834556037[287] = 0.0; + out_4214017023834556037[288] = 0.0; + out_4214017023834556037[289] = 0.0; + out_4214017023834556037[290] = 0.0; + out_4214017023834556037[291] = 0.0; + out_4214017023834556037[292] = 0.0; + out_4214017023834556037[293] = 0.0; + out_4214017023834556037[294] = 0.0; + out_4214017023834556037[295] = 0.0; + out_4214017023834556037[296] = 0.0; + out_4214017023834556037[297] = 0.0; + out_4214017023834556037[298] = 0.0; + out_4214017023834556037[299] = 0.0; + out_4214017023834556037[300] = 0.0; + out_4214017023834556037[301] = 0.0; + out_4214017023834556037[302] = 0.0; + out_4214017023834556037[303] = 0.0; + out_4214017023834556037[304] = 1.0; + out_4214017023834556037[305] = 0.0; + out_4214017023834556037[306] = 0.0; + out_4214017023834556037[307] = 0.0; + out_4214017023834556037[308] = 0.0; + out_4214017023834556037[309] = 0.0; + out_4214017023834556037[310] = 0.0; + out_4214017023834556037[311] = 0.0; + out_4214017023834556037[312] = 0.0; + out_4214017023834556037[313] = 0.0; + out_4214017023834556037[314] = 0.0; + out_4214017023834556037[315] = 0.0; + out_4214017023834556037[316] = 0.0; + out_4214017023834556037[317] = 0.0; + out_4214017023834556037[318] = 0.0; + out_4214017023834556037[319] = 0.0; + out_4214017023834556037[320] = 0.0; + out_4214017023834556037[321] = 0.0; + out_4214017023834556037[322] = 0.0; + out_4214017023834556037[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8359863438222097271) { - out_8359863438222097271[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_8359863438222097271[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_8359863438222097271[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_8359863438222097271[3] = dt*state[12] + state[3]; - out_8359863438222097271[4] = dt*state[13] + state[4]; - out_8359863438222097271[5] = dt*state[14] + state[5]; - out_8359863438222097271[6] = state[6]; - out_8359863438222097271[7] = state[7]; - out_8359863438222097271[8] = state[8]; - out_8359863438222097271[9] = state[9]; - out_8359863438222097271[10] = state[10]; - out_8359863438222097271[11] = state[11]; - out_8359863438222097271[12] = state[12]; - out_8359863438222097271[13] = state[13]; - out_8359863438222097271[14] = state[14]; - out_8359863438222097271[15] = state[15]; - out_8359863438222097271[16] = state[16]; - out_8359863438222097271[17] = state[17]; +void f_fun(double *state, double dt, double *out_446156685689757577) { + out_446156685689757577[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_446156685689757577[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_446156685689757577[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_446156685689757577[3] = dt*state[12] + state[3]; + out_446156685689757577[4] = dt*state[13] + state[4]; + out_446156685689757577[5] = dt*state[14] + state[5]; + out_446156685689757577[6] = state[6]; + out_446156685689757577[7] = state[7]; + out_446156685689757577[8] = state[8]; + out_446156685689757577[9] = state[9]; + out_446156685689757577[10] = state[10]; + out_446156685689757577[11] = state[11]; + out_446156685689757577[12] = state[12]; + out_446156685689757577[13] = state[13]; + out_446156685689757577[14] = state[14]; + out_446156685689757577[15] = state[15]; + out_446156685689757577[16] = state[16]; + out_446156685689757577[17] = state[17]; } -void F_fun(double *state, double dt, double *out_174815157734899050) { - out_174815157734899050[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_174815157734899050[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_174815157734899050[2] = 0; - out_174815157734899050[3] = 0; - out_174815157734899050[4] = 0; - out_174815157734899050[5] = 0; - out_174815157734899050[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_174815157734899050[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_174815157734899050[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_174815157734899050[9] = 0; - out_174815157734899050[10] = 0; - out_174815157734899050[11] = 0; - out_174815157734899050[12] = 0; - out_174815157734899050[13] = 0; - out_174815157734899050[14] = 0; - out_174815157734899050[15] = 0; - out_174815157734899050[16] = 0; - out_174815157734899050[17] = 0; - out_174815157734899050[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_174815157734899050[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_174815157734899050[20] = 0; - out_174815157734899050[21] = 0; - out_174815157734899050[22] = 0; - out_174815157734899050[23] = 0; - out_174815157734899050[24] = 0; - out_174815157734899050[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_174815157734899050[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_174815157734899050[27] = 0; - out_174815157734899050[28] = 0; - out_174815157734899050[29] = 0; - out_174815157734899050[30] = 0; - out_174815157734899050[31] = 0; - out_174815157734899050[32] = 0; - out_174815157734899050[33] = 0; - out_174815157734899050[34] = 0; - out_174815157734899050[35] = 0; - out_174815157734899050[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_174815157734899050[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_174815157734899050[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_174815157734899050[39] = 0; - out_174815157734899050[40] = 0; - out_174815157734899050[41] = 0; - out_174815157734899050[42] = 0; - out_174815157734899050[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_174815157734899050[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_174815157734899050[45] = 0; - out_174815157734899050[46] = 0; - out_174815157734899050[47] = 0; - out_174815157734899050[48] = 0; - out_174815157734899050[49] = 0; - out_174815157734899050[50] = 0; - out_174815157734899050[51] = 0; - out_174815157734899050[52] = 0; - out_174815157734899050[53] = 0; - out_174815157734899050[54] = 0; - out_174815157734899050[55] = 0; - out_174815157734899050[56] = 0; - out_174815157734899050[57] = 1; - out_174815157734899050[58] = 0; - out_174815157734899050[59] = 0; - out_174815157734899050[60] = 0; - out_174815157734899050[61] = 0; - out_174815157734899050[62] = 0; - out_174815157734899050[63] = 0; - out_174815157734899050[64] = 0; - out_174815157734899050[65] = 0; - out_174815157734899050[66] = dt; - out_174815157734899050[67] = 0; - out_174815157734899050[68] = 0; - out_174815157734899050[69] = 0; - out_174815157734899050[70] = 0; - out_174815157734899050[71] = 0; - out_174815157734899050[72] = 0; - out_174815157734899050[73] = 0; - out_174815157734899050[74] = 0; - out_174815157734899050[75] = 0; - out_174815157734899050[76] = 1; - out_174815157734899050[77] = 0; - out_174815157734899050[78] = 0; - out_174815157734899050[79] = 0; - out_174815157734899050[80] = 0; - out_174815157734899050[81] = 0; - out_174815157734899050[82] = 0; - out_174815157734899050[83] = 0; - out_174815157734899050[84] = 0; - out_174815157734899050[85] = dt; - out_174815157734899050[86] = 0; - out_174815157734899050[87] = 0; - out_174815157734899050[88] = 0; - out_174815157734899050[89] = 0; - out_174815157734899050[90] = 0; - out_174815157734899050[91] = 0; - out_174815157734899050[92] = 0; - out_174815157734899050[93] = 0; - out_174815157734899050[94] = 0; - out_174815157734899050[95] = 1; - out_174815157734899050[96] = 0; - out_174815157734899050[97] = 0; - out_174815157734899050[98] = 0; - out_174815157734899050[99] = 0; - out_174815157734899050[100] = 0; - out_174815157734899050[101] = 0; - out_174815157734899050[102] = 0; - out_174815157734899050[103] = 0; - out_174815157734899050[104] = dt; - out_174815157734899050[105] = 0; - out_174815157734899050[106] = 0; - out_174815157734899050[107] = 0; - out_174815157734899050[108] = 0; - out_174815157734899050[109] = 0; - out_174815157734899050[110] = 0; - out_174815157734899050[111] = 0; - out_174815157734899050[112] = 0; - out_174815157734899050[113] = 0; - out_174815157734899050[114] = 1; - out_174815157734899050[115] = 0; - out_174815157734899050[116] = 0; - out_174815157734899050[117] = 0; - out_174815157734899050[118] = 0; - out_174815157734899050[119] = 0; - out_174815157734899050[120] = 0; - out_174815157734899050[121] = 0; - out_174815157734899050[122] = 0; - out_174815157734899050[123] = 0; - out_174815157734899050[124] = 0; - out_174815157734899050[125] = 0; - out_174815157734899050[126] = 0; - out_174815157734899050[127] = 0; - out_174815157734899050[128] = 0; - out_174815157734899050[129] = 0; - out_174815157734899050[130] = 0; - out_174815157734899050[131] = 0; - out_174815157734899050[132] = 0; - out_174815157734899050[133] = 1; - out_174815157734899050[134] = 0; - out_174815157734899050[135] = 0; - out_174815157734899050[136] = 0; - out_174815157734899050[137] = 0; - out_174815157734899050[138] = 0; - out_174815157734899050[139] = 0; - out_174815157734899050[140] = 0; - out_174815157734899050[141] = 0; - out_174815157734899050[142] = 0; - out_174815157734899050[143] = 0; - out_174815157734899050[144] = 0; - out_174815157734899050[145] = 0; - out_174815157734899050[146] = 0; - out_174815157734899050[147] = 0; - out_174815157734899050[148] = 0; - out_174815157734899050[149] = 0; - out_174815157734899050[150] = 0; - out_174815157734899050[151] = 0; - out_174815157734899050[152] = 1; - out_174815157734899050[153] = 0; - out_174815157734899050[154] = 0; - out_174815157734899050[155] = 0; - out_174815157734899050[156] = 0; - out_174815157734899050[157] = 0; - out_174815157734899050[158] = 0; - out_174815157734899050[159] = 0; - out_174815157734899050[160] = 0; - out_174815157734899050[161] = 0; - out_174815157734899050[162] = 0; - out_174815157734899050[163] = 0; - out_174815157734899050[164] = 0; - out_174815157734899050[165] = 0; - out_174815157734899050[166] = 0; - out_174815157734899050[167] = 0; - out_174815157734899050[168] = 0; - out_174815157734899050[169] = 0; - out_174815157734899050[170] = 0; - out_174815157734899050[171] = 1; - out_174815157734899050[172] = 0; - out_174815157734899050[173] = 0; - out_174815157734899050[174] = 0; - out_174815157734899050[175] = 0; - out_174815157734899050[176] = 0; - out_174815157734899050[177] = 0; - out_174815157734899050[178] = 0; - out_174815157734899050[179] = 0; - out_174815157734899050[180] = 0; - out_174815157734899050[181] = 0; - out_174815157734899050[182] = 0; - out_174815157734899050[183] = 0; - out_174815157734899050[184] = 0; - out_174815157734899050[185] = 0; - out_174815157734899050[186] = 0; - out_174815157734899050[187] = 0; - out_174815157734899050[188] = 0; - out_174815157734899050[189] = 0; - out_174815157734899050[190] = 1; - out_174815157734899050[191] = 0; - out_174815157734899050[192] = 0; - out_174815157734899050[193] = 0; - out_174815157734899050[194] = 0; - out_174815157734899050[195] = 0; - out_174815157734899050[196] = 0; - out_174815157734899050[197] = 0; - out_174815157734899050[198] = 0; - out_174815157734899050[199] = 0; - out_174815157734899050[200] = 0; - out_174815157734899050[201] = 0; - out_174815157734899050[202] = 0; - out_174815157734899050[203] = 0; - out_174815157734899050[204] = 0; - out_174815157734899050[205] = 0; - out_174815157734899050[206] = 0; - out_174815157734899050[207] = 0; - out_174815157734899050[208] = 0; - out_174815157734899050[209] = 1; - out_174815157734899050[210] = 0; - out_174815157734899050[211] = 0; - out_174815157734899050[212] = 0; - out_174815157734899050[213] = 0; - out_174815157734899050[214] = 0; - out_174815157734899050[215] = 0; - out_174815157734899050[216] = 0; - out_174815157734899050[217] = 0; - out_174815157734899050[218] = 0; - out_174815157734899050[219] = 0; - out_174815157734899050[220] = 0; - out_174815157734899050[221] = 0; - out_174815157734899050[222] = 0; - out_174815157734899050[223] = 0; - out_174815157734899050[224] = 0; - out_174815157734899050[225] = 0; - out_174815157734899050[226] = 0; - out_174815157734899050[227] = 0; - out_174815157734899050[228] = 1; - out_174815157734899050[229] = 0; - out_174815157734899050[230] = 0; - out_174815157734899050[231] = 0; - out_174815157734899050[232] = 0; - out_174815157734899050[233] = 0; - out_174815157734899050[234] = 0; - out_174815157734899050[235] = 0; - out_174815157734899050[236] = 0; - out_174815157734899050[237] = 0; - out_174815157734899050[238] = 0; - out_174815157734899050[239] = 0; - out_174815157734899050[240] = 0; - out_174815157734899050[241] = 0; - out_174815157734899050[242] = 0; - out_174815157734899050[243] = 0; - out_174815157734899050[244] = 0; - out_174815157734899050[245] = 0; - out_174815157734899050[246] = 0; - out_174815157734899050[247] = 1; - out_174815157734899050[248] = 0; - out_174815157734899050[249] = 0; - out_174815157734899050[250] = 0; - out_174815157734899050[251] = 0; - out_174815157734899050[252] = 0; - out_174815157734899050[253] = 0; - out_174815157734899050[254] = 0; - out_174815157734899050[255] = 0; - out_174815157734899050[256] = 0; - out_174815157734899050[257] = 0; - out_174815157734899050[258] = 0; - out_174815157734899050[259] = 0; - out_174815157734899050[260] = 0; - out_174815157734899050[261] = 0; - out_174815157734899050[262] = 0; - out_174815157734899050[263] = 0; - out_174815157734899050[264] = 0; - out_174815157734899050[265] = 0; - out_174815157734899050[266] = 1; - out_174815157734899050[267] = 0; - out_174815157734899050[268] = 0; - out_174815157734899050[269] = 0; - out_174815157734899050[270] = 0; - out_174815157734899050[271] = 0; - out_174815157734899050[272] = 0; - out_174815157734899050[273] = 0; - out_174815157734899050[274] = 0; - out_174815157734899050[275] = 0; - out_174815157734899050[276] = 0; - out_174815157734899050[277] = 0; - out_174815157734899050[278] = 0; - out_174815157734899050[279] = 0; - out_174815157734899050[280] = 0; - out_174815157734899050[281] = 0; - out_174815157734899050[282] = 0; - out_174815157734899050[283] = 0; - out_174815157734899050[284] = 0; - out_174815157734899050[285] = 1; - out_174815157734899050[286] = 0; - out_174815157734899050[287] = 0; - out_174815157734899050[288] = 0; - out_174815157734899050[289] = 0; - out_174815157734899050[290] = 0; - out_174815157734899050[291] = 0; - out_174815157734899050[292] = 0; - out_174815157734899050[293] = 0; - out_174815157734899050[294] = 0; - out_174815157734899050[295] = 0; - out_174815157734899050[296] = 0; - out_174815157734899050[297] = 0; - out_174815157734899050[298] = 0; - out_174815157734899050[299] = 0; - out_174815157734899050[300] = 0; - out_174815157734899050[301] = 0; - out_174815157734899050[302] = 0; - out_174815157734899050[303] = 0; - out_174815157734899050[304] = 1; - out_174815157734899050[305] = 0; - out_174815157734899050[306] = 0; - out_174815157734899050[307] = 0; - out_174815157734899050[308] = 0; - out_174815157734899050[309] = 0; - out_174815157734899050[310] = 0; - out_174815157734899050[311] = 0; - out_174815157734899050[312] = 0; - out_174815157734899050[313] = 0; - out_174815157734899050[314] = 0; - out_174815157734899050[315] = 0; - out_174815157734899050[316] = 0; - out_174815157734899050[317] = 0; - out_174815157734899050[318] = 0; - out_174815157734899050[319] = 0; - out_174815157734899050[320] = 0; - out_174815157734899050[321] = 0; - out_174815157734899050[322] = 0; - out_174815157734899050[323] = 1; +void F_fun(double *state, double dt, double *out_1314145057723334901) { + out_1314145057723334901[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_1314145057723334901[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_1314145057723334901[2] = 0; + out_1314145057723334901[3] = 0; + out_1314145057723334901[4] = 0; + out_1314145057723334901[5] = 0; + out_1314145057723334901[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_1314145057723334901[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_1314145057723334901[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_1314145057723334901[9] = 0; + out_1314145057723334901[10] = 0; + out_1314145057723334901[11] = 0; + out_1314145057723334901[12] = 0; + out_1314145057723334901[13] = 0; + out_1314145057723334901[14] = 0; + out_1314145057723334901[15] = 0; + out_1314145057723334901[16] = 0; + out_1314145057723334901[17] = 0; + out_1314145057723334901[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_1314145057723334901[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_1314145057723334901[20] = 0; + out_1314145057723334901[21] = 0; + out_1314145057723334901[22] = 0; + out_1314145057723334901[23] = 0; + out_1314145057723334901[24] = 0; + out_1314145057723334901[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_1314145057723334901[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_1314145057723334901[27] = 0; + out_1314145057723334901[28] = 0; + out_1314145057723334901[29] = 0; + out_1314145057723334901[30] = 0; + out_1314145057723334901[31] = 0; + out_1314145057723334901[32] = 0; + out_1314145057723334901[33] = 0; + out_1314145057723334901[34] = 0; + out_1314145057723334901[35] = 0; + out_1314145057723334901[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_1314145057723334901[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_1314145057723334901[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_1314145057723334901[39] = 0; + out_1314145057723334901[40] = 0; + out_1314145057723334901[41] = 0; + out_1314145057723334901[42] = 0; + out_1314145057723334901[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_1314145057723334901[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_1314145057723334901[45] = 0; + out_1314145057723334901[46] = 0; + out_1314145057723334901[47] = 0; + out_1314145057723334901[48] = 0; + out_1314145057723334901[49] = 0; + out_1314145057723334901[50] = 0; + out_1314145057723334901[51] = 0; + out_1314145057723334901[52] = 0; + out_1314145057723334901[53] = 0; + out_1314145057723334901[54] = 0; + out_1314145057723334901[55] = 0; + out_1314145057723334901[56] = 0; + out_1314145057723334901[57] = 1; + out_1314145057723334901[58] = 0; + out_1314145057723334901[59] = 0; + out_1314145057723334901[60] = 0; + out_1314145057723334901[61] = 0; + out_1314145057723334901[62] = 0; + out_1314145057723334901[63] = 0; + out_1314145057723334901[64] = 0; + out_1314145057723334901[65] = 0; + out_1314145057723334901[66] = dt; + out_1314145057723334901[67] = 0; + out_1314145057723334901[68] = 0; + out_1314145057723334901[69] = 0; + out_1314145057723334901[70] = 0; + out_1314145057723334901[71] = 0; + out_1314145057723334901[72] = 0; + out_1314145057723334901[73] = 0; + out_1314145057723334901[74] = 0; + out_1314145057723334901[75] = 0; + out_1314145057723334901[76] = 1; + out_1314145057723334901[77] = 0; + out_1314145057723334901[78] = 0; + out_1314145057723334901[79] = 0; + out_1314145057723334901[80] = 0; + out_1314145057723334901[81] = 0; + out_1314145057723334901[82] = 0; + out_1314145057723334901[83] = 0; + out_1314145057723334901[84] = 0; + out_1314145057723334901[85] = dt; + out_1314145057723334901[86] = 0; + out_1314145057723334901[87] = 0; + out_1314145057723334901[88] = 0; + out_1314145057723334901[89] = 0; + out_1314145057723334901[90] = 0; + out_1314145057723334901[91] = 0; + out_1314145057723334901[92] = 0; + out_1314145057723334901[93] = 0; + out_1314145057723334901[94] = 0; + out_1314145057723334901[95] = 1; + out_1314145057723334901[96] = 0; + out_1314145057723334901[97] = 0; + out_1314145057723334901[98] = 0; + out_1314145057723334901[99] = 0; + out_1314145057723334901[100] = 0; + out_1314145057723334901[101] = 0; + out_1314145057723334901[102] = 0; + out_1314145057723334901[103] = 0; + out_1314145057723334901[104] = dt; + out_1314145057723334901[105] = 0; + out_1314145057723334901[106] = 0; + out_1314145057723334901[107] = 0; + out_1314145057723334901[108] = 0; + out_1314145057723334901[109] = 0; + out_1314145057723334901[110] = 0; + out_1314145057723334901[111] = 0; + out_1314145057723334901[112] = 0; + out_1314145057723334901[113] = 0; + out_1314145057723334901[114] = 1; + out_1314145057723334901[115] = 0; + out_1314145057723334901[116] = 0; + out_1314145057723334901[117] = 0; + out_1314145057723334901[118] = 0; + out_1314145057723334901[119] = 0; + out_1314145057723334901[120] = 0; + out_1314145057723334901[121] = 0; + out_1314145057723334901[122] = 0; + out_1314145057723334901[123] = 0; + out_1314145057723334901[124] = 0; + out_1314145057723334901[125] = 0; + out_1314145057723334901[126] = 0; + out_1314145057723334901[127] = 0; + out_1314145057723334901[128] = 0; + out_1314145057723334901[129] = 0; + out_1314145057723334901[130] = 0; + out_1314145057723334901[131] = 0; + out_1314145057723334901[132] = 0; + out_1314145057723334901[133] = 1; + out_1314145057723334901[134] = 0; + out_1314145057723334901[135] = 0; + out_1314145057723334901[136] = 0; + out_1314145057723334901[137] = 0; + out_1314145057723334901[138] = 0; + out_1314145057723334901[139] = 0; + out_1314145057723334901[140] = 0; + out_1314145057723334901[141] = 0; + out_1314145057723334901[142] = 0; + out_1314145057723334901[143] = 0; + out_1314145057723334901[144] = 0; + out_1314145057723334901[145] = 0; + out_1314145057723334901[146] = 0; + out_1314145057723334901[147] = 0; + out_1314145057723334901[148] = 0; + out_1314145057723334901[149] = 0; + out_1314145057723334901[150] = 0; + out_1314145057723334901[151] = 0; + out_1314145057723334901[152] = 1; + out_1314145057723334901[153] = 0; + out_1314145057723334901[154] = 0; + out_1314145057723334901[155] = 0; + out_1314145057723334901[156] = 0; + out_1314145057723334901[157] = 0; + out_1314145057723334901[158] = 0; + out_1314145057723334901[159] = 0; + out_1314145057723334901[160] = 0; + out_1314145057723334901[161] = 0; + out_1314145057723334901[162] = 0; + out_1314145057723334901[163] = 0; + out_1314145057723334901[164] = 0; + out_1314145057723334901[165] = 0; + out_1314145057723334901[166] = 0; + out_1314145057723334901[167] = 0; + out_1314145057723334901[168] = 0; + out_1314145057723334901[169] = 0; + out_1314145057723334901[170] = 0; + out_1314145057723334901[171] = 1; + out_1314145057723334901[172] = 0; + out_1314145057723334901[173] = 0; + out_1314145057723334901[174] = 0; + out_1314145057723334901[175] = 0; + out_1314145057723334901[176] = 0; + out_1314145057723334901[177] = 0; + out_1314145057723334901[178] = 0; + out_1314145057723334901[179] = 0; + out_1314145057723334901[180] = 0; + out_1314145057723334901[181] = 0; + out_1314145057723334901[182] = 0; + out_1314145057723334901[183] = 0; + out_1314145057723334901[184] = 0; + out_1314145057723334901[185] = 0; + out_1314145057723334901[186] = 0; + out_1314145057723334901[187] = 0; + out_1314145057723334901[188] = 0; + out_1314145057723334901[189] = 0; + out_1314145057723334901[190] = 1; + out_1314145057723334901[191] = 0; + out_1314145057723334901[192] = 0; + out_1314145057723334901[193] = 0; + out_1314145057723334901[194] = 0; + out_1314145057723334901[195] = 0; + out_1314145057723334901[196] = 0; + out_1314145057723334901[197] = 0; + out_1314145057723334901[198] = 0; + out_1314145057723334901[199] = 0; + out_1314145057723334901[200] = 0; + out_1314145057723334901[201] = 0; + out_1314145057723334901[202] = 0; + out_1314145057723334901[203] = 0; + out_1314145057723334901[204] = 0; + out_1314145057723334901[205] = 0; + out_1314145057723334901[206] = 0; + out_1314145057723334901[207] = 0; + out_1314145057723334901[208] = 0; + out_1314145057723334901[209] = 1; + out_1314145057723334901[210] = 0; + out_1314145057723334901[211] = 0; + out_1314145057723334901[212] = 0; + out_1314145057723334901[213] = 0; + out_1314145057723334901[214] = 0; + out_1314145057723334901[215] = 0; + out_1314145057723334901[216] = 0; + out_1314145057723334901[217] = 0; + out_1314145057723334901[218] = 0; + out_1314145057723334901[219] = 0; + out_1314145057723334901[220] = 0; + out_1314145057723334901[221] = 0; + out_1314145057723334901[222] = 0; + out_1314145057723334901[223] = 0; + out_1314145057723334901[224] = 0; + out_1314145057723334901[225] = 0; + out_1314145057723334901[226] = 0; + out_1314145057723334901[227] = 0; + out_1314145057723334901[228] = 1; + out_1314145057723334901[229] = 0; + out_1314145057723334901[230] = 0; + out_1314145057723334901[231] = 0; + out_1314145057723334901[232] = 0; + out_1314145057723334901[233] = 0; + out_1314145057723334901[234] = 0; + out_1314145057723334901[235] = 0; + out_1314145057723334901[236] = 0; + out_1314145057723334901[237] = 0; + out_1314145057723334901[238] = 0; + out_1314145057723334901[239] = 0; + out_1314145057723334901[240] = 0; + out_1314145057723334901[241] = 0; + out_1314145057723334901[242] = 0; + out_1314145057723334901[243] = 0; + out_1314145057723334901[244] = 0; + out_1314145057723334901[245] = 0; + out_1314145057723334901[246] = 0; + out_1314145057723334901[247] = 1; + out_1314145057723334901[248] = 0; + out_1314145057723334901[249] = 0; + out_1314145057723334901[250] = 0; + out_1314145057723334901[251] = 0; + out_1314145057723334901[252] = 0; + out_1314145057723334901[253] = 0; + out_1314145057723334901[254] = 0; + out_1314145057723334901[255] = 0; + out_1314145057723334901[256] = 0; + out_1314145057723334901[257] = 0; + out_1314145057723334901[258] = 0; + out_1314145057723334901[259] = 0; + out_1314145057723334901[260] = 0; + out_1314145057723334901[261] = 0; + out_1314145057723334901[262] = 0; + out_1314145057723334901[263] = 0; + out_1314145057723334901[264] = 0; + out_1314145057723334901[265] = 0; + out_1314145057723334901[266] = 1; + out_1314145057723334901[267] = 0; + out_1314145057723334901[268] = 0; + out_1314145057723334901[269] = 0; + out_1314145057723334901[270] = 0; + out_1314145057723334901[271] = 0; + out_1314145057723334901[272] = 0; + out_1314145057723334901[273] = 0; + out_1314145057723334901[274] = 0; + out_1314145057723334901[275] = 0; + out_1314145057723334901[276] = 0; + out_1314145057723334901[277] = 0; + out_1314145057723334901[278] = 0; + out_1314145057723334901[279] = 0; + out_1314145057723334901[280] = 0; + out_1314145057723334901[281] = 0; + out_1314145057723334901[282] = 0; + out_1314145057723334901[283] = 0; + out_1314145057723334901[284] = 0; + out_1314145057723334901[285] = 1; + out_1314145057723334901[286] = 0; + out_1314145057723334901[287] = 0; + out_1314145057723334901[288] = 0; + out_1314145057723334901[289] = 0; + out_1314145057723334901[290] = 0; + out_1314145057723334901[291] = 0; + out_1314145057723334901[292] = 0; + out_1314145057723334901[293] = 0; + out_1314145057723334901[294] = 0; + out_1314145057723334901[295] = 0; + out_1314145057723334901[296] = 0; + out_1314145057723334901[297] = 0; + out_1314145057723334901[298] = 0; + out_1314145057723334901[299] = 0; + out_1314145057723334901[300] = 0; + out_1314145057723334901[301] = 0; + out_1314145057723334901[302] = 0; + out_1314145057723334901[303] = 0; + out_1314145057723334901[304] = 1; + out_1314145057723334901[305] = 0; + out_1314145057723334901[306] = 0; + out_1314145057723334901[307] = 0; + out_1314145057723334901[308] = 0; + out_1314145057723334901[309] = 0; + out_1314145057723334901[310] = 0; + out_1314145057723334901[311] = 0; + out_1314145057723334901[312] = 0; + out_1314145057723334901[313] = 0; + out_1314145057723334901[314] = 0; + out_1314145057723334901[315] = 0; + out_1314145057723334901[316] = 0; + out_1314145057723334901[317] = 0; + out_1314145057723334901[318] = 0; + out_1314145057723334901[319] = 0; + out_1314145057723334901[320] = 0; + out_1314145057723334901[321] = 0; + out_1314145057723334901[322] = 0; + out_1314145057723334901[323] = 1; } -void h_4(double *state, double *unused, double *out_388088547893374228) { - out_388088547893374228[0] = state[6] + state[9]; - out_388088547893374228[1] = state[7] + state[10]; - out_388088547893374228[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3131871851783197102) { + out_3131871851783197102[0] = state[6] + state[9]; + out_3131871851783197102[1] = state[7] + state[10]; + out_3131871851783197102[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3526081883612534553) { - out_3526081883612534553[0] = 0; - out_3526081883612534553[1] = 0; - out_3526081883612534553[2] = 0; - out_3526081883612534553[3] = 0; - out_3526081883612534553[4] = 0; - out_3526081883612534553[5] = 0; - out_3526081883612534553[6] = 1; - out_3526081883612534553[7] = 0; - out_3526081883612534553[8] = 0; - out_3526081883612534553[9] = 1; - out_3526081883612534553[10] = 0; - out_3526081883612534553[11] = 0; - out_3526081883612534553[12] = 0; - out_3526081883612534553[13] = 0; - out_3526081883612534553[14] = 0; - out_3526081883612534553[15] = 0; - out_3526081883612534553[16] = 0; - out_3526081883612534553[17] = 0; - out_3526081883612534553[18] = 0; - out_3526081883612534553[19] = 0; - out_3526081883612534553[20] = 0; - out_3526081883612534553[21] = 0; - out_3526081883612534553[22] = 0; - out_3526081883612534553[23] = 0; - out_3526081883612534553[24] = 0; - out_3526081883612534553[25] = 1; - out_3526081883612534553[26] = 0; - out_3526081883612534553[27] = 0; - out_3526081883612534553[28] = 1; - out_3526081883612534553[29] = 0; - out_3526081883612534553[30] = 0; - out_3526081883612534553[31] = 0; - out_3526081883612534553[32] = 0; - out_3526081883612534553[33] = 0; - out_3526081883612534553[34] = 0; - out_3526081883612534553[35] = 0; - out_3526081883612534553[36] = 0; - out_3526081883612534553[37] = 0; - out_3526081883612534553[38] = 0; - out_3526081883612534553[39] = 0; - out_3526081883612534553[40] = 0; - out_3526081883612534553[41] = 0; - out_3526081883612534553[42] = 0; - out_3526081883612534553[43] = 0; - out_3526081883612534553[44] = 1; - out_3526081883612534553[45] = 0; - out_3526081883612534553[46] = 0; - out_3526081883612534553[47] = 1; - out_3526081883612534553[48] = 0; - out_3526081883612534553[49] = 0; - out_3526081883612534553[50] = 0; - out_3526081883612534553[51] = 0; - out_3526081883612534553[52] = 0; - out_3526081883612534553[53] = 0; +void H_4(double *state, double *unused, double *out_7985824233678463609) { + out_7985824233678463609[0] = 0; + out_7985824233678463609[1] = 0; + out_7985824233678463609[2] = 0; + out_7985824233678463609[3] = 0; + out_7985824233678463609[4] = 0; + out_7985824233678463609[5] = 0; + out_7985824233678463609[6] = 1; + out_7985824233678463609[7] = 0; + out_7985824233678463609[8] = 0; + out_7985824233678463609[9] = 1; + out_7985824233678463609[10] = 0; + out_7985824233678463609[11] = 0; + out_7985824233678463609[12] = 0; + out_7985824233678463609[13] = 0; + out_7985824233678463609[14] = 0; + out_7985824233678463609[15] = 0; + out_7985824233678463609[16] = 0; + out_7985824233678463609[17] = 0; + out_7985824233678463609[18] = 0; + out_7985824233678463609[19] = 0; + out_7985824233678463609[20] = 0; + out_7985824233678463609[21] = 0; + out_7985824233678463609[22] = 0; + out_7985824233678463609[23] = 0; + out_7985824233678463609[24] = 0; + out_7985824233678463609[25] = 1; + out_7985824233678463609[26] = 0; + out_7985824233678463609[27] = 0; + out_7985824233678463609[28] = 1; + out_7985824233678463609[29] = 0; + out_7985824233678463609[30] = 0; + out_7985824233678463609[31] = 0; + out_7985824233678463609[32] = 0; + out_7985824233678463609[33] = 0; + out_7985824233678463609[34] = 0; + out_7985824233678463609[35] = 0; + out_7985824233678463609[36] = 0; + out_7985824233678463609[37] = 0; + out_7985824233678463609[38] = 0; + out_7985824233678463609[39] = 0; + out_7985824233678463609[40] = 0; + out_7985824233678463609[41] = 0; + out_7985824233678463609[42] = 0; + out_7985824233678463609[43] = 0; + out_7985824233678463609[44] = 1; + out_7985824233678463609[45] = 0; + out_7985824233678463609[46] = 0; + out_7985824233678463609[47] = 1; + out_7985824233678463609[48] = 0; + out_7985824233678463609[49] = 0; + out_7985824233678463609[50] = 0; + out_7985824233678463609[51] = 0; + out_7985824233678463609[52] = 0; + out_7985824233678463609[53] = 0; } -void h_10(double *state, double *unused, double *out_3651567794159293424) { - out_3651567794159293424[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3651567794159293424[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3651567794159293424[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_4732705393461985535) { + out_4732705393461985535[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4732705393461985535[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4732705393461985535[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_7553527708872310168) { - out_7553527708872310168[0] = 0; - out_7553527708872310168[1] = 9.8100000000000005*cos(state[1]); - out_7553527708872310168[2] = 0; - out_7553527708872310168[3] = 0; - out_7553527708872310168[4] = -state[8]; - out_7553527708872310168[5] = state[7]; - out_7553527708872310168[6] = 0; - out_7553527708872310168[7] = state[5]; - out_7553527708872310168[8] = -state[4]; - out_7553527708872310168[9] = 0; - out_7553527708872310168[10] = 0; - out_7553527708872310168[11] = 0; - out_7553527708872310168[12] = 1; - out_7553527708872310168[13] = 0; - out_7553527708872310168[14] = 0; - out_7553527708872310168[15] = 1; - out_7553527708872310168[16] = 0; - out_7553527708872310168[17] = 0; - out_7553527708872310168[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_7553527708872310168[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_7553527708872310168[20] = 0; - out_7553527708872310168[21] = state[8]; - out_7553527708872310168[22] = 0; - out_7553527708872310168[23] = -state[6]; - out_7553527708872310168[24] = -state[5]; - out_7553527708872310168[25] = 0; - out_7553527708872310168[26] = state[3]; - out_7553527708872310168[27] = 0; - out_7553527708872310168[28] = 0; - out_7553527708872310168[29] = 0; - out_7553527708872310168[30] = 0; - out_7553527708872310168[31] = 1; - out_7553527708872310168[32] = 0; - out_7553527708872310168[33] = 0; - out_7553527708872310168[34] = 1; - out_7553527708872310168[35] = 0; - out_7553527708872310168[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_7553527708872310168[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_7553527708872310168[38] = 0; - out_7553527708872310168[39] = -state[7]; - out_7553527708872310168[40] = state[6]; - out_7553527708872310168[41] = 0; - out_7553527708872310168[42] = state[4]; - out_7553527708872310168[43] = -state[3]; - out_7553527708872310168[44] = 0; - out_7553527708872310168[45] = 0; - out_7553527708872310168[46] = 0; - out_7553527708872310168[47] = 0; - out_7553527708872310168[48] = 0; - out_7553527708872310168[49] = 0; - out_7553527708872310168[50] = 1; - out_7553527708872310168[51] = 0; - out_7553527708872310168[52] = 0; - out_7553527708872310168[53] = 1; +void H_10(double *state, double *unused, double *out_25842791302237901) { + out_25842791302237901[0] = 0; + out_25842791302237901[1] = 9.8100000000000005*cos(state[1]); + out_25842791302237901[2] = 0; + out_25842791302237901[3] = 0; + out_25842791302237901[4] = -state[8]; + out_25842791302237901[5] = state[7]; + out_25842791302237901[6] = 0; + out_25842791302237901[7] = state[5]; + out_25842791302237901[8] = -state[4]; + out_25842791302237901[9] = 0; + out_25842791302237901[10] = 0; + out_25842791302237901[11] = 0; + out_25842791302237901[12] = 1; + out_25842791302237901[13] = 0; + out_25842791302237901[14] = 0; + out_25842791302237901[15] = 1; + out_25842791302237901[16] = 0; + out_25842791302237901[17] = 0; + out_25842791302237901[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_25842791302237901[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_25842791302237901[20] = 0; + out_25842791302237901[21] = state[8]; + out_25842791302237901[22] = 0; + out_25842791302237901[23] = -state[6]; + out_25842791302237901[24] = -state[5]; + out_25842791302237901[25] = 0; + out_25842791302237901[26] = state[3]; + out_25842791302237901[27] = 0; + out_25842791302237901[28] = 0; + out_25842791302237901[29] = 0; + out_25842791302237901[30] = 0; + out_25842791302237901[31] = 1; + out_25842791302237901[32] = 0; + out_25842791302237901[33] = 0; + out_25842791302237901[34] = 1; + out_25842791302237901[35] = 0; + out_25842791302237901[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_25842791302237901[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_25842791302237901[38] = 0; + out_25842791302237901[39] = -state[7]; + out_25842791302237901[40] = state[6]; + out_25842791302237901[41] = 0; + out_25842791302237901[42] = state[4]; + out_25842791302237901[43] = -state[3]; + out_25842791302237901[44] = 0; + out_25842791302237901[45] = 0; + out_25842791302237901[46] = 0; + out_25842791302237901[47] = 0; + out_25842791302237901[48] = 0; + out_25842791302237901[49] = 0; + out_25842791302237901[50] = 1; + out_25842791302237901[51] = 0; + out_25842791302237901[52] = 0; + out_25842791302237901[53] = 1; } -void h_13(double *state, double *unused, double *out_5975295746890546976) { - out_5975295746890546976[0] = state[3]; - out_5975295746890546976[1] = state[4]; - out_5975295746890546976[2] = state[5]; +void h_13(double *state, double *unused, double *out_3855617401361447493) { + out_3855617401361447493[0] = state[3]; + out_3855617401361447493[1] = state[4]; + out_3855617401361447493[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6738355708944867354) { - out_6738355708944867354[0] = 0; - out_6738355708944867354[1] = 0; - out_6738355708944867354[2] = 0; - out_6738355708944867354[3] = 1; - out_6738355708944867354[4] = 0; - out_6738355708944867354[5] = 0; - out_6738355708944867354[6] = 0; - out_6738355708944867354[7] = 0; - out_6738355708944867354[8] = 0; - out_6738355708944867354[9] = 0; - out_6738355708944867354[10] = 0; - out_6738355708944867354[11] = 0; - out_6738355708944867354[12] = 0; - out_6738355708944867354[13] = 0; - out_6738355708944867354[14] = 0; - out_6738355708944867354[15] = 0; - out_6738355708944867354[16] = 0; - out_6738355708944867354[17] = 0; - out_6738355708944867354[18] = 0; - out_6738355708944867354[19] = 0; - out_6738355708944867354[20] = 0; - out_6738355708944867354[21] = 0; - out_6738355708944867354[22] = 1; - out_6738355708944867354[23] = 0; - out_6738355708944867354[24] = 0; - out_6738355708944867354[25] = 0; - out_6738355708944867354[26] = 0; - out_6738355708944867354[27] = 0; - out_6738355708944867354[28] = 0; - out_6738355708944867354[29] = 0; - out_6738355708944867354[30] = 0; - out_6738355708944867354[31] = 0; - out_6738355708944867354[32] = 0; - out_6738355708944867354[33] = 0; - out_6738355708944867354[34] = 0; - out_6738355708944867354[35] = 0; - out_6738355708944867354[36] = 0; - out_6738355708944867354[37] = 0; - out_6738355708944867354[38] = 0; - out_6738355708944867354[39] = 0; - out_6738355708944867354[40] = 0; - out_6738355708944867354[41] = 1; - out_6738355708944867354[42] = 0; - out_6738355708944867354[43] = 0; - out_6738355708944867354[44] = 0; - out_6738355708944867354[45] = 0; - out_6738355708944867354[46] = 0; - out_6738355708944867354[47] = 0; - out_6738355708944867354[48] = 0; - out_6738355708944867354[49] = 0; - out_6738355708944867354[50] = 0; - out_6738355708944867354[51] = 0; - out_6738355708944867354[52] = 0; - out_6738355708944867354[53] = 0; +void H_13(double *state, double *unused, double *out_2850288631714387078) { + out_2850288631714387078[0] = 0; + out_2850288631714387078[1] = 0; + out_2850288631714387078[2] = 0; + out_2850288631714387078[3] = 1; + out_2850288631714387078[4] = 0; + out_2850288631714387078[5] = 0; + out_2850288631714387078[6] = 0; + out_2850288631714387078[7] = 0; + out_2850288631714387078[8] = 0; + out_2850288631714387078[9] = 0; + out_2850288631714387078[10] = 0; + out_2850288631714387078[11] = 0; + out_2850288631714387078[12] = 0; + out_2850288631714387078[13] = 0; + out_2850288631714387078[14] = 0; + out_2850288631714387078[15] = 0; + out_2850288631714387078[16] = 0; + out_2850288631714387078[17] = 0; + out_2850288631714387078[18] = 0; + out_2850288631714387078[19] = 0; + out_2850288631714387078[20] = 0; + out_2850288631714387078[21] = 0; + out_2850288631714387078[22] = 1; + out_2850288631714387078[23] = 0; + out_2850288631714387078[24] = 0; + out_2850288631714387078[25] = 0; + out_2850288631714387078[26] = 0; + out_2850288631714387078[27] = 0; + out_2850288631714387078[28] = 0; + out_2850288631714387078[29] = 0; + out_2850288631714387078[30] = 0; + out_2850288631714387078[31] = 0; + out_2850288631714387078[32] = 0; + out_2850288631714387078[33] = 0; + out_2850288631714387078[34] = 0; + out_2850288631714387078[35] = 0; + out_2850288631714387078[36] = 0; + out_2850288631714387078[37] = 0; + out_2850288631714387078[38] = 0; + out_2850288631714387078[39] = 0; + out_2850288631714387078[40] = 0; + out_2850288631714387078[41] = 1; + out_2850288631714387078[42] = 0; + out_2850288631714387078[43] = 0; + out_2850288631714387078[44] = 0; + out_2850288631714387078[45] = 0; + out_2850288631714387078[46] = 0; + out_2850288631714387078[47] = 0; + out_2850288631714387078[48] = 0; + out_2850288631714387078[49] = 0; + out_2850288631714387078[50] = 0; + out_2850288631714387078[51] = 0; + out_2850288631714387078[52] = 0; + out_2850288631714387078[53] = 0; } -void h_14(double *state, double *unused, double *out_7017148445173920389) { - out_7017148445173920389[0] = state[6]; - out_7017148445173920389[1] = state[7]; - out_7017148445173920389[2] = state[8]; +void h_14(double *state, double *unused, double *out_2052081526966194460) { + out_2052081526966194460[0] = state[6]; + out_2052081526966194460[1] = state[7]; + out_2052081526966194460[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7489322739952019082) { - out_7489322739952019082[0] = 0; - out_7489322739952019082[1] = 0; - out_7489322739952019082[2] = 0; - out_7489322739952019082[3] = 0; - out_7489322739952019082[4] = 0; - out_7489322739952019082[5] = 0; - out_7489322739952019082[6] = 1; - out_7489322739952019082[7] = 0; - out_7489322739952019082[8] = 0; - out_7489322739952019082[9] = 0; - out_7489322739952019082[10] = 0; - out_7489322739952019082[11] = 0; - out_7489322739952019082[12] = 0; - out_7489322739952019082[13] = 0; - out_7489322739952019082[14] = 0; - out_7489322739952019082[15] = 0; - out_7489322739952019082[16] = 0; - out_7489322739952019082[17] = 0; - out_7489322739952019082[18] = 0; - out_7489322739952019082[19] = 0; - out_7489322739952019082[20] = 0; - out_7489322739952019082[21] = 0; - out_7489322739952019082[22] = 0; - out_7489322739952019082[23] = 0; - out_7489322739952019082[24] = 0; - out_7489322739952019082[25] = 1; - out_7489322739952019082[26] = 0; - out_7489322739952019082[27] = 0; - out_7489322739952019082[28] = 0; - out_7489322739952019082[29] = 0; - out_7489322739952019082[30] = 0; - out_7489322739952019082[31] = 0; - out_7489322739952019082[32] = 0; - out_7489322739952019082[33] = 0; - out_7489322739952019082[34] = 0; - out_7489322739952019082[35] = 0; - out_7489322739952019082[36] = 0; - out_7489322739952019082[37] = 0; - out_7489322739952019082[38] = 0; - out_7489322739952019082[39] = 0; - out_7489322739952019082[40] = 0; - out_7489322739952019082[41] = 0; - out_7489322739952019082[42] = 0; - out_7489322739952019082[43] = 0; - out_7489322739952019082[44] = 1; - out_7489322739952019082[45] = 0; - out_7489322739952019082[46] = 0; - out_7489322739952019082[47] = 0; - out_7489322739952019082[48] = 0; - out_7489322739952019082[49] = 0; - out_7489322739952019082[50] = 0; - out_7489322739952019082[51] = 0; - out_7489322739952019082[52] = 0; - out_7489322739952019082[53] = 0; +void H_14(double *state, double *unused, double *out_4903035801383091313) { + out_4903035801383091313[0] = 0; + out_4903035801383091313[1] = 0; + out_4903035801383091313[2] = 0; + out_4903035801383091313[3] = 0; + out_4903035801383091313[4] = 0; + out_4903035801383091313[5] = 0; + out_4903035801383091313[6] = 1; + out_4903035801383091313[7] = 0; + out_4903035801383091313[8] = 0; + out_4903035801383091313[9] = 0; + out_4903035801383091313[10] = 0; + out_4903035801383091313[11] = 0; + out_4903035801383091313[12] = 0; + out_4903035801383091313[13] = 0; + out_4903035801383091313[14] = 0; + out_4903035801383091313[15] = 0; + out_4903035801383091313[16] = 0; + out_4903035801383091313[17] = 0; + out_4903035801383091313[18] = 0; + out_4903035801383091313[19] = 0; + out_4903035801383091313[20] = 0; + out_4903035801383091313[21] = 0; + out_4903035801383091313[22] = 0; + out_4903035801383091313[23] = 0; + out_4903035801383091313[24] = 0; + out_4903035801383091313[25] = 1; + out_4903035801383091313[26] = 0; + out_4903035801383091313[27] = 0; + out_4903035801383091313[28] = 0; + out_4903035801383091313[29] = 0; + out_4903035801383091313[30] = 0; + out_4903035801383091313[31] = 0; + out_4903035801383091313[32] = 0; + out_4903035801383091313[33] = 0; + out_4903035801383091313[34] = 0; + out_4903035801383091313[35] = 0; + out_4903035801383091313[36] = 0; + out_4903035801383091313[37] = 0; + out_4903035801383091313[38] = 0; + out_4903035801383091313[39] = 0; + out_4903035801383091313[40] = 0; + out_4903035801383091313[41] = 0; + out_4903035801383091313[42] = 0; + out_4903035801383091313[43] = 0; + out_4903035801383091313[44] = 1; + out_4903035801383091313[45] = 0; + out_4903035801383091313[46] = 0; + out_4903035801383091313[47] = 0; + out_4903035801383091313[48] = 0; + out_4903035801383091313[49] = 0; + out_4903035801383091313[50] = 0; + out_4903035801383091313[51] = 0; + out_4903035801383091313[52] = 0; + out_4903035801383091313[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640) { - err_fun(nom_x, delta_x, out_4926409855120774640); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7783868612103190645) { + err_fun(nom_x, delta_x, out_7783868612103190645); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741) { - inv_err_fun(nom_x, true_x, out_6187782627613179741); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646) { + inv_err_fun(nom_x, true_x, out_6605006959385105646); } -void pose_H_mod_fun(double *state, double *out_5486902536301149939) { - H_mod_fun(state, out_5486902536301149939); +void pose_H_mod_fun(double *state, double *out_4214017023834556037) { + H_mod_fun(state, out_4214017023834556037); } -void pose_f_fun(double *state, double dt, double *out_8359863438222097271) { - f_fun(state, dt, out_8359863438222097271); +void pose_f_fun(double *state, double dt, double *out_446156685689757577) { + f_fun(state, dt, out_446156685689757577); } -void pose_F_fun(double *state, double dt, double *out_174815157734899050) { - F_fun(state, dt, out_174815157734899050); +void pose_F_fun(double *state, double dt, double *out_1314145057723334901) { + F_fun(state, dt, out_1314145057723334901); } -void pose_h_4(double *state, double *unused, double *out_388088547893374228) { - h_4(state, unused, out_388088547893374228); +void pose_h_4(double *state, double *unused, double *out_3131871851783197102) { + h_4(state, unused, out_3131871851783197102); } -void pose_H_4(double *state, double *unused, double *out_3526081883612534553) { - H_4(state, unused, out_3526081883612534553); +void pose_H_4(double *state, double *unused, double *out_7985824233678463609) { + H_4(state, unused, out_7985824233678463609); } -void pose_h_10(double *state, double *unused, double *out_3651567794159293424) { - h_10(state, unused, out_3651567794159293424); +void pose_h_10(double *state, double *unused, double *out_4732705393461985535) { + h_10(state, unused, out_4732705393461985535); } -void pose_H_10(double *state, double *unused, double *out_7553527708872310168) { - H_10(state, unused, out_7553527708872310168); +void pose_H_10(double *state, double *unused, double *out_25842791302237901) { + H_10(state, unused, out_25842791302237901); } -void pose_h_13(double *state, double *unused, double *out_5975295746890546976) { - h_13(state, unused, out_5975295746890546976); +void pose_h_13(double *state, double *unused, double *out_3855617401361447493) { + h_13(state, unused, out_3855617401361447493); } -void pose_H_13(double *state, double *unused, double *out_6738355708944867354) { - H_13(state, unused, out_6738355708944867354); +void pose_H_13(double *state, double *unused, double *out_2850288631714387078) { + H_13(state, unused, out_2850288631714387078); } -void pose_h_14(double *state, double *unused, double *out_7017148445173920389) { - h_14(state, unused, out_7017148445173920389); +void pose_h_14(double *state, double *unused, double *out_2052081526966194460) { + h_14(state, unused, out_2052081526966194460); } -void pose_H_14(double *state, double *unused, double *out_7489322739952019082) { - H_14(state, unused, out_7489322739952019082); +void pose_H_14(double *state, double *unused, double *out_4903035801383091313) { + H_14(state, unused, out_4903035801383091313); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index c43b73be5..a48f678e7 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741); -void pose_H_mod_fun(double *state, double *out_5486902536301149939); -void pose_f_fun(double *state, double dt, double *out_8359863438222097271); -void pose_F_fun(double *state, double dt, double *out_174815157734899050); -void pose_h_4(double *state, double *unused, double *out_388088547893374228); -void pose_H_4(double *state, double *unused, double *out_3526081883612534553); -void pose_h_10(double *state, double *unused, double *out_3651567794159293424); -void pose_H_10(double *state, double *unused, double *out_7553527708872310168); -void pose_h_13(double *state, double *unused, double *out_5975295746890546976); -void pose_H_13(double *state, double *unused, double *out_6738355708944867354); -void pose_h_14(double *state, double *unused, double *out_7017148445173920389); -void pose_H_14(double *state, double *unused, double *out_7489322739952019082); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7783868612103190645); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646); +void pose_H_mod_fun(double *state, double *out_4214017023834556037); +void pose_f_fun(double *state, double dt, double *out_446156685689757577); +void pose_F_fun(double *state, double dt, double *out_1314145057723334901); +void pose_h_4(double *state, double *unused, double *out_3131871851783197102); +void pose_H_4(double *state, double *unused, double *out_7985824233678463609); +void pose_h_10(double *state, double *unused, double *out_4732705393461985535); +void pose_H_10(double *state, double *unused, double *out_25842791302237901); +void pose_h_13(double *state, double *unused, double *out_3855617401361447493); +void pose_H_13(double *state, double *unused, double *out_2850288631714387078); +void pose_h_14(double *state, double *unused, double *out_2052081526966194460); +void pose_H_14(double *state, double *unused, double *out_4903035801383091313); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index df0c5a07e..e31093c53 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 553e3e107..68828c7ab 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index a93a8ec64..29884585b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index e91d5ce66..d64f17666 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 5a1c32259..9332f9020 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ